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Sample records for manipulation gijutsu taikei

  1. "Soka Kyoikugaku Taikei" versus "Education for Creative Living": How Makiguchi Tsunesaburo's Educational Ideas Are Presented in English

    Science.gov (United States)

    Inukai, Nozomi

    2013-01-01

    The only available English translation of Makiguchi Tsunesaburo's most characteristic work, "Soka Kyoikugaku Taikei" ("The System of Value-Creating Pedagogy"; 1930-1934), was published as "Education for Creative Living" in 1989 with Alfred Birnbaum as the translator and Dayle M. Bethel as the editor. "Education for Creative Living", not…

  2. Fiscal 1997 R and D project on industrial science and technology under a consignment from NEDO. R and D of the ultimate manipulation technology of atoms and molecules; 1997 nendo sangyo kagaku gijutsu kenkyu kaihatsu jigyo Shin energy Sangyo gijutsu Sogo Kaihatsu Kiko itaku. Genshi bunshi kyokugen sosa gijutsu no kenkyu kaihatsu seika hokokusho (genshi bunshi kyokugen sosa gijutsu no kenkyu kaihatsu)

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1998-03-01

    This paper describes R and D of the ultimate manipulation technology of atoms and molecules (atom technology). The R and D aims at establishment of observation/manipulation technology of atoms and molecules as common basic technology in various industrial fields such as new material, electronics, bio-technology and chemistry. The R and D thus aims at establishment of observation/manipulation of solid surfaces and DNA organic molecules, formation of fine structures of atomic surface arrangement, and calculation/ simulation for predicting a reaction theorem of atom and molecule surfaces. In fiscal 1997, research was made on improvement and development of computer simulation environment, and description of an excited state of electrons by Green function. Establishment of a construction method and computation code is under investigation for pseudo- potential dependent on excitation energy. Survey was made on research trends of the atom technology by visiting overseas academic societies and institutions. International Symposium on Atom Technology was also held in Tokyo in Nov. 1997

  3. Fiscal 1997 R and D project on industrial science and technology under a consignment from NEDO. R and D of the ultimate manipulation technology of atoms and molecules (R and D of the formation of advanced materials for power generation environment); 1997 nendo sangyo kagaku gijutsu kenkyu kaihatsu jigyo Shin energy Sangyo Gijutsu Sogo Kaihatsu Kiko itaku. Genshi bunshi kyokugen sosa gijutsu no kenkyu kaihatsu seika hokokusho (hatsuden kankyoyo kokino sozai keisei gijutsu kaihatsu)

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1998-03-01

    This paper describes R and D of the ultimate manipulation technology of atoms and molecules (atom technology). Ten nanoscale Ge islands were successfully formed in proper positions on an Si substrate surface by using mask technology of nanoscale atomic layers. Growth of less-defect ZnSe films on a GaAs(110) surface was possible under various conditions. The magnetic transfer mechanism of Mn oxide with huge reluctance was clarified. Through study on selective-area deposition of Si on plasma-oxidized ultrathin SiO2 mask layers patterned by direct electron-beam exposure and an idea of SiO2/SiNx bilayer mask, direct use of the ultrathin mask layer as insulating layer in device structure was achieved. The superior property as electron beam resist of methano- fullerene composed of fullerene C60 with side chains including oxygen was clarified. The initial oxidation process of an Si(100) surface was analyzed, and the observation result by SREM was theoretically explained. Development of a high-resolution spin polarization electron microscope was also mentioned. 48 refs., 145 figs., 20 tabs.

  4. FY 1998 annual summary report on manipulation of atomic and molecular extremes. Development of technologies for high-efficiency analysis/manipulation of DNA and the like; 1998 nendo genshi bunshi kyokugen sosa gijutsu no kenkyu kaihatsu seika hokokusho. DNA nado kokoritsu kaiseki sosa gijutsu kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-03-01

    The objectives are set to establish the techniques for observation/manipulation of atoms and molecules, as the common basic techniques for various industrial areas, e.g., new materials, electronics, biotechnology and chemical. Development of atomic field and scanning tunneling microscopes working under extreme conditions has been pursued, in order to manipulate complex systems, such as living body. For identification of molecular species, laser-excited fluorescence is combined with scanning mechanical probing to further refine the single molecule detection/identification techniques, and the objectives are set to develop a new method for evaluating molecules in a living body using a scanning probe microscope, and also to develop a novel scanning probe microscope for molecules in a living body. The other efforts were directed to R and D of the techniques for observing structures of organic molecules and the like through the measurements of adsorption process of organic molecules and clusters on semiconductor substrates and their surface reactions, and precision measurements of vibrational conditions of adsorbed molecular species reacting in the solid-liquid interfaces by high-sensitivity Raman spectroscopy to elucidate the catalysis mechanisms at the molecular level. (NEDO)

  5. Achievement report for fiscal 1998. Research and development of ultimate atom/molecule manipulating technologies (Development of technology for formation of advanced function materials for use under power generation environment); 1998 nendo genshi bunshi kyokugen sosa gijutsu no kenkyu kaihatsu seika hokokusho. Hatsuden kankyoyo kokino sozai keisei gijutsu kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-03-01

    The aim is to establish atom/molecule observing and manipulating technologies commonly applicable as basic technologies to industrial fields of new materials, electronics, biotechnology, chemistry, etc. The technologies to be established involve atom level observation and manipulation by mechanically probing into organic molecules such as those of solid surface DNA, microstructure formation with atoms arbitrarily arranged by use of a microfine electron beam and surface chemical properties, simulation by the first principle calculation for the theoretical prediction atom/mole surface application in a process, and new materials to replace semiconductors. The subjects of research and development selected for this fiscal year are the study of silicon nanostructure formation and physical properties, study of nanostructure formation technology based on cluster manipulation, study of nanostructure formation processes using chemical reaction control and local structure analysis, study of new properties of correlation-intensive electron based new materials, study of spin measuring technology, and the study of theoretical analysis of atom/molecule dynamic processes. (NEDO)

  6. Underwater manipulator

    Science.gov (United States)

    Schrum, P.B.; Cohen, G.H.

    1993-04-20

    Self-contained, waterproof, water-submersible, remote-controlled apparatus is described for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer [plus minus]45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer [plus minus]10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.

  7. Interpersonal Communicational Manipulations

    Directory of Open Access Journals (Sweden)

    Ştefan VLĂDUŢESCU

    2014-11-01

    Full Text Available Manipulation is a form of persuasive influence. According to the criterion of the influence type, persuasion is interpersonal, group or collectively-social. By derivation and according to the criterion of the target, in our opinion, manipulations may be of three types: interpersonal manipulations (when the target is one individual, group manipulations (when the target is a group and social-collective manipulations (when the target represents a large community. We consider as interpersonal communicational manipulations: foot in the door, door in the face, and law-balling. Classification-JEL: A23

  8. Master-Slave Manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Goertz, R.C.

    1949-03-07

    A device for manipulating a pair of tongs behind a shielding barrier has been built and tested. It is called a Master-Slave Manipulator because the slave tongs move in exact correspondence with a master handle. The "slave hands" follow the master hands in complete synchronism. This is the first completely master-slave manipulator known to exist and has proved that this type of manipulation is very successful when the unit is prooperly engineered and built.

  9. Currency Manipulation versus Current Account Manipulation

    OpenAIRE

    Junning Cai

    2005-01-01

    It is said that a country’s currency peg can become currency manipulation representing protracted government intervention in the foreign exchange market that gives it unfair competitive advantage in international trade yet prevents effective balance of payments in its trade partners. Regarding this widespread fallacy, this paper explains why currency peg is not currency manipulation even when it keeps a country’s currency undervalued. We clarify that 1) government is inherently a major player...

  10. Progress in nonprehensile manipulation

    Energy Technology Data Exchange (ETDEWEB)

    Mason, M.T.

    1999-11-01

    This paper reviews my recent research in robotic manipulation and speculates on potentially fruitful directions for future work. My recent work is focused on nonprehensile manipulation: manipulating objects without grasping them. In particular, the paper surveys work on a single joint robot that orients parts on a conveyor belt; a robot that uses dynamics to snatch, roll, or throw objects; hitting things to position them; manipulating things whose shapes are not completely known; and integration of manipulation with locomotion. In the future, a broad view of robotics will allow us to focus on fundamental principles and at the same time address a variety of new applications.

  11. Giant optical manipulation.

    Science.gov (United States)

    Shvedov, Vladlen G; Rode, Andrei V; Izdebskaya, Yana V; Desyatnikov, Anton S; Krolikowski, Wieslaw; Kivshar, Yuri S

    2010-09-10

    We demonstrate a new principle of optical trapping and manipulation increasing more than 1000 times the manipulation distance by harnessing strong thermal forces while suppressing their stochastic nature with optical vortex beams. Our approach expands optical manipulation of particles into a gas media and provides a full control over trapped particles, including the optical transport and pinpoint positioning of ∼100  μm objects over a meter-scale distance with ±10  μm accuracy.

  12. In praise of manipulation

    NARCIS (Netherlands)

    Dowding, Keith; Van Hees, Martin

    2008-01-01

    Many theorists believe that the manipulation of voting procedures is a serious problem. Accordingly, much of social choice theory examines the conditions under which strategy-proofness can be ensured, and what kind of procedures do a better job of preventing manipulation. This article argues that de

  13. In praise of manipulation

    NARCIS (Netherlands)

    Dowding, Keith; Van Hees, Martin

    Many theorists believe that the manipulation of voting procedures is a serious problem. Accordingly, much of social choice theory examines the conditions under which strategy-proofness can be ensured, and what kind of procedures do a better job of preventing manipulation. This article argues that

  14. Actuability of Underactuated Manipulators

    Science.gov (United States)

    1994-06-01

    of a manipulator with passive joints in operational space. IEEE Transactions on Robotics and Automation, 9(1), February 1993. [6] !irohiko Arai and...Susumu Tachi Position control of a manipulator with passive joints using dynamic coupling. IEEE Transactions on Robotics and Automation, 7(4), August

  15. Cell manipulation in microfluidics.

    Science.gov (United States)

    Yun, Hoyoung; Kim, Kisoo; Lee, Won Gu

    2013-06-01

    Recent advances in the lab-on-a-chip field in association with nano/microfluidics have been made for new applications and functionalities to the fields of molecular biology, genetic analysis and proteomics, enabling the expansion of the cell biology field. Specifically, microfluidics has provided promising tools for enhancing cell biological research, since it has the ability to precisely control the cellular environment, to easily mimic heterogeneous cellular environment by multiplexing, and to analyze sub-cellular information by high-contents screening assays at the single-cell level. Various cell manipulation techniques in microfluidics have been developed in accordance with specific objectives and applications. In this review, we examine the latest achievements of cell manipulation techniques in microfluidics by categorizing externally applied forces for manipulation: (i) optical, (ii) magnetic, (iii) electrical, (iv) mechanical and (v) other manipulations. We furthermore focus on history where the manipulation techniques originate and also discuss future perspectives with key examples where available.

  16. Osteopathic Manipulative Treatment

    Science.gov (United States)

    Campbell, Shannon M.; Walkowski, Stevan

    2012-01-01

    Dermatological diseases, such as dysesthesia syndromes, stasis dermatoses, and hyperhidrosis are difficult to treat due to their complex etiologies. Current theories suggest these diseases are caused by physiological imbalances, such as nerve impingement, localized tissue congestion, and impaired autonomic regulation. Osteopathic manipulative therapy targets these physiological dysfunctions and may serve as a beneficial therapeutic option. Osteopathic manipulative therapy techniques include high velocity low amplitude, muscle energy, counterstrain, myofascial release, craniosacral, and lymphatic drainage. An osteopathic manipulative therapy technique is chosen based on its physiological target for a particular disease. Osteopathic manipulative therapy may be useful alone or in combination with standard therapeutic options. However, due to the lack of standardized trials supporting the efficacy of osteopathic manipulative therapy treatment for dermatological disease, randomized, well-controlled studies are necessary to confirm its therapeutic value. PMID:23125887

  17. Sound visualization and manipulation

    CERN Document Server

    Kim, Yang-Hann

    2013-01-01

    Unique in addressing two different problems - sound visualization and manipulation - in a unified way Advances in signal processing technology are enabling ever more accurate visualization of existing sound fields and precisely defined sound field production. The idea of explaining both the problem of sound visualization and the problem of the manipulation of sound within one book supports this inter-related area of study.  With rapid development of array technologies, it is possible to do much in terms of visualization and manipulation, among other technologies involved with the spatial dis

  18. Manipulation by physiotherapists.

    Science.gov (United States)

    Cyriax, J

    1970-03-01

    Divergent opinions exist on whether or not physiotherapists should manipulate. The controversy can be simply resolved by pointing out that the past policy of withholding such tuition from physiotherapists has in no way diminished the public demand for manipulation; it has merely forced potential patients to the bonesetter. Even those doctors who resent the idea of physiotherapists manipulating must surely prefer its performance by trained personnel working under doctors' guidance to indiscriminate recourse to all sorts of largely untrained laymen without doctors' prior approval. Come what may, the patients are going to be manipulated; at least let this then be sought from trained physiotherapists who give treatment ethically to patients sent to them by doctors.

  19. Dielectrophoresis for Bioparticle Manipulation

    Directory of Open Access Journals (Sweden)

    Cheng Qian

    2014-10-01

    Full Text Available As an ideal method to manipulate biological particles, the dielectrophoresis (DEP technique has been widely used in clinical diagnosis, disease treatment, drug development, immunoassays, cell sorting, etc. This review summarizes the research in the field of bioparticle manipulation based on DEP techniques. Firstly, the basic principle of DEP and its classical theories are introduced in brief; Secondly, a detailed introduction on the DEP technique used for bioparticle manipulation is presented, in which the applications are classified into five fields: capturing bioparticles to specific regions, focusing bioparticles in the sample, characterizing biomolecular interaction and detecting microorganism, pairing cells for electrofusion and separating different kinds of bioparticles; Thirdly, the effect of DEP on bioparticle viability is analyzed; Finally, the DEP techniques are summarized and future trends in bioparticle manipulation are suggested.

  20. Manipulating Strings in Python

    Directory of Open Access Journals (Sweden)

    William J. Turkel

    2012-07-01

    Full Text Available This lesson is a brief introduction to string manipulation techniques in Python. Knowing how to manipulate strings plays a crucial role in most text processing tasks. If you’d like to experiment with the following lessons, you can write and execute short programs as we’ve been doing, or you can open up a Python shell / Terminal to try them out on the command line.

  1. Clermont Ferrand uterine manipulator.

    Science.gov (United States)

    Nassif, Joseph; Wattiez, Arnaud

    2010-10-01

    Laparoscopy was considered marginal to surgical specialties before 1990. Rare innovations in instruments were done. With the realization of the first laparoscopic hysterectomy, this surgical route gained wide acceptance during the 1990s. Technical advances were made by instrument companies offering a wide variety of instruments to surgeons and by surgeons themselves to cope with problems during laparoscopic procedures. Manipulators are among the first instruments that surgeons suggested to ameliorate laparoscopic performance. Instruments that have multiple functions (i.e., grasping, cutting, coagulating) are more and more appreciated because surgeons can avoid changing instruments during surgery. Manipulators offer multifunctional assistance during gynecologic surgical procedures. They are useful for exposure purposes and also for reproductive surgery (and hysterectomy). This article explains the benefits and help that a manipulator can provide, especially in total laparoscopic hysterectomy. In the latter intervention, the manipulator will help to expose the pelvis by moving the uterus in any direction, to identify structures and find anatomical landmarks such as the vaginal fornices for culdotomy, and to avoid complications by pulling the ureter away from the operative field. Also, it is useful to avoid carbon dioxide leakage at the vaginal opening and to retrieve the surgical specimen. Each step is shown in a photograph with the specific hand movements corresponding to the manipulator's handling. We think that the use of manipulators during laparoscopic surgery is very useful and helps to reduce operative time.

  2. Atomic and molecular manipulation

    CERN Document Server

    Mayne, Andrew J

    2011-01-01

    Work with individual atoms and molecules aims to demonstrate that miniaturized electronic, optical, magnetic, and mechanical devices can operate ultimately even at the level of a single atom or molecule. As such, atomic and molecular manipulation has played an emblematic role in the development of the field of nanoscience. New methods based on the use of the scanning tunnelling microscope (STM) have been developed to characterize and manipulate all the degrees of freedom of individual atoms and molecules with an unprecedented precision. In the meantime, new concepts have emerged to design molecules and substrates having specific optical, mechanical and electronic functions, thus opening the way to the fabrication of real nano-machines. Manipulation of individual atoms and molecules has also opened up completely new areas of research and knowledge, raising fundamental questions of "Optics at the atomic scale", "Mechanics at the atomic scale", Electronics at the atomic scale", "Quantum physics at the atomic sca...

  3. Data manipulation with R

    CERN Document Server

    Abedin, Jaynal

    2014-01-01

    This book is a step-by step, example-oriented tutorial that will show both intermediate and advanced users how data manipulation is facilitated smoothly using R.This book is aimed at intermediate to advanced level users of R who want to perform data manipulation with R, and those who want to clean and aggregate data effectively. Readers are expected to have at least an introductory knowledge of R and some basic administration work in R, such as installing packages and calling them when required.

  4. Data manipulation with R

    CERN Document Server

    Abedin, Jaynal

    2015-01-01

    This book is for all those who wish to learn about data manipulation from scratch and excel at aggregating data effectively. It is expected that you have basic knowledge of R and have previously done some basic administration work with R.

  5. Manipulating Combinatorial Structures.

    Science.gov (United States)

    Labelle, Gilbert

    This set of transparencies shows how the manipulation of combinatorial structures in the context of modern combinatorics can easily lead to interesting teaching and learning activities at every level of education from elementary school to university. The transparencies describe: (1) the importance and relations of combinatorics to science and…

  6. Microrobots to Manipulate Cells

    DEFF Research Database (Denmark)

    Glückstad, Jesper

    At DTU Fotonik we developed and harnessed the new and emerging research area of so-called Light Robotics including the 3D-printed micro-tools coined Wave-guided Optical Waveguides that can be real-time laser-manipulated in a 3D-volume with six-degrees-of-freedom. To be exploring the full potentia...

  7. Manipulation of quantum evolution

    Science.gov (United States)

    Cabera, David Jose Fernandez; Mielnik, Bogdan

    1994-01-01

    The free evolution of a non-relativistic charged particle is manipulated using time-dependent magnetic fields. It is shown that the application of a programmed sequence of magnetic pulses can invert the free evolution process, forcing an arbitrary wave packet to 'go back in time' to recover its past shape. The possibility of more general operations upon the Schrodinger wave packet is discussed.

  8. Genetic manipulation in biotechnology

    Energy Technology Data Exchange (ETDEWEB)

    Sherwood, R.; Atkinson, T.

    1981-04-04

    The role of genetic manipulation in opening up new possibilities in biotechnology is discussed and the basic steps in a recombinant DNA experiment are summarized. Some current and future applications of this technology in the fields of medicine, industry and agriculture are presented, including, conversion of wastes to SCP, chemicals and alcohols, plant improvement and the introduction of nitrogen fixation genes into plants as an alternative to the use of nitrogen fertilizers.

  9. Computer aided manipulator control

    Science.gov (United States)

    Bejczy, A. K.; Zawacki, R. L.

    1980-01-01

    This paper describes the hardware and software system of a dedicated mini- and microcomputer network developed at the JPL teleoperator project to aid the operator in real-time control of remote manipulators. The operator can be in series or in parallel with the control computer during operation. The purpose of the project is to develop, demonstrate and evaluate advanced supervisory control concepts and techniques for space applications. The paper concludes with a brief outline of future development plans and issues.

  10. Endocavity Ultrasound Probe Manipulators.

    Science.gov (United States)

    Stoianovici, Dan; Kim, Chunwoo; Schäfer, Felix; Huang, Chien-Ming; Zuo, Yihe; Petrisor, Doru; Han, Misop

    2013-06-01

    We developed two similar structure manipulators for medical endocavity ultrasound probes with 3 and 4 degrees of freedom (DoF). These robots allow scanning with ultrasound for 3-D imaging and enable robot-assisted image-guided procedures. Both robots use remote center of motion kinematics, characteristic of medical robots. The 4-DoF robot provides unrestricted manipulation of the endocavity probe. With the 3-DoF robot the insertion motion of the probe must be adjusted manually, but the device is simpler and may also be used to manipulate external-body probes. The robots enabled a novel surgical approach of using intraoperative image-based navigation during robot-assisted laparoscopic prostatectomy (RALP), performed with concurrent use of two robotic systems (Tandem, T-RALP). Thus far, a clinical trial for evaluation of safety and feasibility has been performed successfully on 46 patients. This paper describes the architecture and design of the robots, the two prototypes, control features related to safety, preclinical experiments, and the T-RALP procedure.

  11. Cuspidal and Noncuspidal Robot Manipulators

    CERN Document Server

    Wenger, Philippe

    2010-01-01

    This article synthezises the most important results on the kinematics of cuspidal manipulators i.e. nonredundant manipulators that can change posture without meeting a singularity. The characteristic surfaces, the uniqueness domains and the regions of feasible paths in the workspace are defined. Then, several sufficient geometric conditions for a manipulator to be noncuspidal are enumerated and a general necessary and sufficient condition for a manipulator to be cuspidal is provided. An explicit DH-parameter-based condition for an orthogonal manipulator to be cuspidal is derived. The full classification of 3R orthogonal manipulators is provided and all types of cuspidal and noncuspidal orthogonal manipulators are enumerated. Finally, some facts about cuspidal and noncuspidal 6R manipulators are reported.

  12. A History of Manipulative Therapy

    OpenAIRE

    Pettman, Erland

    2007-01-01

    Manipulative therapy has known a parallel development throughout many parts of the world. The earliest historical reference to the practice of manipulative therapy in Europe dates back to 400 BCE. Over the centuries, manipulative interventions have fallen in and out of favor with the medical profession. Manipulative therapy also was initially the mainstay of the two leading alternative health care systems, osteopathy and chiropractic, both founded in the latter part of the 19th century in res...

  13. Spatial manipulation with microfluidics

    Directory of Open Access Journals (Sweden)

    Benjamin eLin

    2015-04-01

    Full Text Available Biochemical gradients convey information through space, time, and concentration, and are ultimately capable of spatially resolving distinct cellular phenotypes, such as differentiation, proliferation, and migration. How these gradients develop, evolve, and function during development, homeostasis, and various disease states is a subject of intense interest across a variety of disciplines. Microfluidic technologies have become essential tools for investigating gradient sensing in vitro due to their ability to precisely manipulate fluids on demand in well controlled environments at cellular length scales. This minireview will highlight their utility for studying gradient sensing along with relevant applications to biology.

  14. Linear- rubbing Manipulation

    Institute of Scientific and Technical Information of China (English)

    SHEN Guo-quan; XIAO Yuan-chun

    2003-01-01

    @@ Linear-rubbing is a characteristic technique in the academic school of internal exercise massage in Shanghai. It was known as "flat pushing method" in the past times. The academic school of internal exercise Tuina finds, in the clinical practice of flat pushing, that if the internal exercise accumuhtes in the palm and one-way movement is replaced by two-way movement, the kinetic energy may be transformed into heat energy, bringing about a new unique manipulating technique, which is rather different from the usual flat pushing no longer and now called linear-rubbing therapy.

  15. Performance measurement of mobile manipulators

    Science.gov (United States)

    Bostelman, Roger; Hong, Tsai; Marvel, Jeremy

    2015-05-01

    This paper describes a concept for measuring the reproducible performance of mobile manipulators to be used for assembly or other similar tasks. An automatic guided vehicle with an onboard robot arm was programmed to repeatedly move to and stop at a novel, reconfigurable mobile manipulator artifact (RMMA), sense the RMMA, and detect targets on the RMMA. The manipulator moved a laser retroreflective sensor to detect small reflectors that can be reconfigured to measure various manipulator positions and orientations (poses). This paper describes calibration of a multi-camera, motion capture system using a 6 degree-of-freedom metrology bar and then using the camera system as a ground truth measurement device for validation of the reproducible mobile manipulator's experiments and test method. Static performance measurement of a mobile manipulator using the RMMA has proved useful for relatively high tolerance pose estimation and other metrics that support standard test method development for indexed and dynamic mobile manipulator applications.

  16. Hydraulic manipulator research at ORNL

    Energy Technology Data Exchange (ETDEWEB)

    Kress, R.L.; Jansen, J.F. [Oak Ridge National Lab., TN (United States); Love, L.J. [Oak Ridge Inst. for Science and Education, TN (United States)

    1997-03-01

    Recently, task requirements have dictated that manipulator payload capacity increase to accommodate greater payloads, greater manipulator length, and larger environmental interaction forces. General tasks such as waste storage tank cleanup and facility dismantlement and decommissioning require manipulator life capacities in the range of hundreds of pounds rather than tens of pounds. To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned once again to hydraulics as a means of actuation. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem), sophisticated modeling, analysis, and control experiments are usually needed. Oak Ridge National Laboratory (ORNL) has a history of projects that incorporate hydraulics technology, including mobile robots, teleoperated manipulators, and full-scale construction equipment. In addition, to support the development and deployment of new hydraulic manipulators, ORNL has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The purpose of this article is to describe the past hydraulic manipulator developments and current hydraulic manipulator research capabilities at ORNL. Included are example experimental results from ORNL`s flexible/prismatic test stand.

  17. Manipulation with molecules

    Directory of Open Access Journals (Sweden)

    M.D Barnes

    2002-09-01

    For many years now, researchers in materials and photonics have been keenly interested in the design and fabrication of structures that confine and manipulate electromagnetic fields on length scales comparable to optical wavelengths. The ultimate goal is an all-optical information processing and computation platform using photons in ways analogous to electrons in silicon devices on similar length scales. Specific focus areas such as wafer-scale integration, parallel processing, and frequency management (e.g. add-drop filters, on micron or sub-micron length scales are active areas of photonics research. While a great deal of progress has been made in the burgeoning field of microphotonics, we are still a long way off from realizing important goals such as the optical transistor and all-optical integrated circuits1.

  18. Interactive protein manipulation

    Energy Technology Data Exchange (ETDEWEB)

    SNCrivelli@lbl.gov

    2003-07-01

    We describe an interactive visualization and modeling program for the creation of protein structures ''from scratch''. The input to our program is an amino acid sequence -decoded from a gene- and a sequence of predicted secondary structure types for each amino acid-provided by external structure prediction programs. Our program can be used in the set-up phase of a protein structure prediction process; the structures created with it serve as input for a subsequent global internal energy minimization, or another method of protein structure prediction. Our program supports basic visualization methods for protein structures, interactive manipulation based on inverse kinematics, and visualization guides to aid a user in creating ''good'' initial structures.

  19. How to manipulate polls

    Directory of Open Access Journals (Sweden)

    Balăşescu. M.

    2011-01-01

    Full Text Available Every time you open a newspaper, listen to the radio, watch TV or browse the Internet, you will see some numbers and stats. All these numbers come from different sources like a national statistics office, an organization or an individual that has conducted research. These numbers can give a brief overview of the world surrounding us and are often used by people or organizations to strengthen their message. The way experts collect all the raw data to come up with all these clear-cut numbers is an important part of the process. In this respect, an experiment has been designed to see how a person can manipulate a poll to obtain the desired numbers and a lot of ways have been found.

  20. The manipulation of online newspapers

    OpenAIRE

    CONSTANTIN SCHIFIRNEŢ

    2008-01-01

    The paper studies the manipulation on comments from generalist online newspapers. It is analysed the contexts of interactivity between online media and public. The forums media are an alternative to tendencies of manipulation exerted by media. At the same time, some comments create an image or argument that favours their particular interests. The tactics of commentators may include the use of logical fallacies and propaganda techniques.They promote a manipulation of opinions, atitudes and be...

  1. Inverse Dynamics of Flexible Manipulators

    OpenAIRE

    Moberg, Stig; Hanssen, Sven

    2010-01-01

    High performance robot manipulators, in terms of cycle time and accuracy, require well designed control methods, based on accurate dynamic models. Robot manipulators are traditionally described by the flexible joint model or the flexible link model. These models only consider elasticity in the rotational direction. When these models are used for control or simulation, the accuracy can be limited due to the model simplifications, since a real manipulator has a distributed flexibility inall directi...

  2. Manipulation hardware for microgravity research

    Energy Technology Data Exchange (ETDEWEB)

    Herndon, J.N.; Glassell, R.L.; Butler, P.L.; Williams, D.M. (Oak Ridge National Lab., TN (USA)); Rohn, D.A. (National Aeronautics and Space Administration, Cleveland, OH (USA). Lewis Research Center); Miller, J.H. (Sverdrup Technology, Inc., Brook Park, OH (USA))

    1990-01-01

    The establishment of permanent low earth orbit occupation on the Space Station Freedom will present new opportunities for the introduction of productive flexible automation systems into the microgravity environment of space. The need for robust and reliable robotic systems to support experimental activities normally intended by astronauts will assume great importance. Many experimental modules on the space station are expected to require robotic systems for ongoing experimental operations. When implementing these systems, care must be taken not to introduce deleterious effects on the experiments or on the space station itself. It is important to minimize the acceleration effects on the experimental items being handled while also minimizing manipulator base reaction effects on adjacent experiments and on the space station structure. NASA Lewis Research Center has been performing research on these manipulator applications, focusing on improving the basic manipulator hardware, as well as developing improved manipulator control algorithms. By utilizing the modular manipulator concepts developed during the Laboratory Telerobotic Manipulator program, Oak Ridge National Laboratory has developed an experimental testbed system called the Microgravity Manipulator, incorporating two pitch-yaw modular positioners to provide a 4 dof experimental manipulator arm. A key feature in the design for microgravity manipulation research was the use of traction drives for torque transmission in the modular pitch-yaw differentials.

  3. Non-manipulation quantitative designs.

    Science.gov (United States)

    Rumrill, Phillip D

    2004-01-01

    The article describes non-manipulation quantitative designs of two types, correlational and causal comparative studies. Both of these designs are characterized by the absence of random assignment of research participants to conditions or groups and non-manipulation of the independent variable. Without random selection or manipulation of the independent variable, no attempt is made to draw causal inferences regarding relationships between independent and dependent variables. Nonetheless, non-manipulation studies play an important role in rehabilitation research, as described in this article. Examples from the contemporary rehabilitation literature are included. Copyright 2004 IOS Press

  4. Manipulating and Visualizing Proteins

    Energy Technology Data Exchange (ETDEWEB)

    Simon, Horst D.

    2003-12-05

    ProteinShop Gives Researchers a Hands-On Tool for Manipulating, Visualizing Protein Structures. The Human Genome Project and other biological research efforts are creating an avalanche of new data about the chemical makeup and genetic codes of living organisms. But in order to make sense of this raw data, researchers need software tools which let them explore and model data in a more intuitive fashion. With this in mind, researchers at Lawrence Berkeley National Laboratory and the University of California, Davis, have developed ProteinShop, a visualization and modeling program which allows researchers to manipulate protein structures with pinpoint control, guided in large part by their own biological and experimental instincts. Biologists have spent the last half century trying to unravel the ''protein folding problem,'' which refers to the way chains of amino acids physically fold themselves into three-dimensional proteins. This final shape, which resembles a crumpled ribbon or piece of origami, is what determines how the protein functions and translates genetic information. Understanding and modeling this geometrically complex formation is no easy matter. ProteinShop takes a given sequence of amino acids and uses visualization guides to help generate predictions about the secondary structures, identifying alpha helices and flat beta strands, and the coil regions that bind them. Once secondary structures are in place, researchers can twist and turn these pre-configurations until they come up with a number of possible tertiary structure conformations. In turn, these are fed into a computationally intensive optimization procedure that tries to find the final, three-dimensional protein structure. Most importantly, ProteinShop allows users to add human knowledge and intuition to the protein structure prediction process, thus bypassing bad configurations that would otherwise be fruitless for optimization. This saves compute cycles and accelerates

  5. Elementary School Teachers' Manipulative Use

    Science.gov (United States)

    Uribe-Florez, Lida J.; Wilkins, Jesse L. M.

    2010-01-01

    Using data from 503 inservice elementary teachers, this study investigated the relationship between teachers' background characteristics, teachers' beliefs about manipulatives, and the frequency with which teachers use manipulatives as part of their mathematics instruction. Findings from the study show that teachers' grade level and beliefs about…

  6. Ideological Manipulation in Translation Practice

    Institute of Scientific and Technical Information of China (English)

    张靖

    2011-01-01

    Lefevere's rewriting theory states that translation is a rewriting of the original text,all rewritings reflect a certain ideology and a poetics and as such manipulate literature to function in a given society.Based on this theory,some translation examples are illustrated and analyzed here to show that political and aesthetic ideology will inevitably manipulate translation in different aspects.

  7. Thermoelectrical manipulation of nanomagnets

    Science.gov (United States)

    Kadigrobov, A. M.; Andersson, S.; Radić, D.; Shekhter, R. I.; Jonson, M.; Korenivski, V.

    2010-06-01

    We investigate the interplay between the thermodynamic properties and spin-dependent transport in a mesoscopic device based on a magnetic multilayer (F/f/F), in which two strongly ferromagnetic layers (F) are exchange-coupled through a weakly ferromagnetic spacer (f) with the Curie temperature in the vicinity of room temperature. We show theoretically that the Joule heating produced by the spin-dependent current allows a spin-thermoelectronic control of the ferromagnetic-to-paramagnetic (f/N) transition in the spacer and, thereby, of the relative orientation of the outer F-layers in the device (spin-thermoelectric manipulation of nanomagnets). Supporting experimental evidence of such thermally-controlled switching from parallel to antiparallel magnetization orientations in F/f(N)/F sandwiches is presented. Furthermore, we show theoretically that local Joule heating due to a high concentration of current in a magnetic point contact or a nanopillar can be used to reversibly drive the weakly ferromagnetic spacer through its Curie point and thereby exchange couple and decouple the two strongly ferromagnetic F-layers. For the devices designed to have an antiparallel ground state above the Curie point of the spacer, the associated spin-thermionic parallel to antiparallel switching causes magnetoresistance oscillations whose frequency can be controlled by proper biasing from essentially dc to GHz. We discuss in detail an experimental realization of a device that can operate as a thermomagnetoresistive switch or oscillator.

  8. Genetic Manipulations in Dermatophytes.

    Science.gov (United States)

    Alshahni, Mohamed Mahdi; Yamada, Tsuyoshi

    2017-02-01

    Dermatophytes are a group of closely related fungi that nourish on keratinized materials for their survival. They infect stratum corneum, nails, and hair of human and animals, accounting the largest portion of fungi causing superficial mycoses. Huge populations are suffering from dermatophytoses, though the biology of these fungi is largely unknown yet. Reasons are partially attributed to the poor amenability of dermatophytes to genetic manipulation. However, advancements in this field over the last decade made it possible to conduct genetic studies to satisfying extents. These included genetic transformation methods, indispensable molecular tools, i.e., dominant selectable markers, inducible promoter, and marker recycling system, along with improving homologous recombination frequency and gene silencing. Furthermore, annotated genome sequences of several dermatophytic species have recently been available, ensuring an optimal recruitment of the molecular tools to expand our knowledge on these fungi. In conclusion, the establishment of basic molecular tools and the availability of genomic data will open a new era that might change our understanding on the biology and pathogenicity of this fungal group.

  9. The Manipulative Discourse of Gandalf

    Directory of Open Access Journals (Sweden)

    Farid Mohammadi

    2014-07-01

    Full Text Available The aim of this essay is to investigate discursive, cognitive and social aspects of manipulation in regard to the dialogues of the literary fictional character of Gandalf in the trilogy of The Lord of the Rings. Accordingly, the researcher has taken a multidisciplinary approach to an account of discursive manipulation, and focuses on the cognitive dimensions of manipulation. As a result, the researcher demonstrates meticulously how manipulation involves intensifying the power, moral superiority and the credibility of the speaker(s, while abusing the others (recipients, along with an emotional and attractive way of expression, and supplemented by reasonable facts and documents in regard to a specific issue. Keywords: Manipulation, Discourse, Cognitive, Power Abuse, Persuasion, Social representation, J.R.R. Tolkien

  10. Omnidirectional Analysis of Spatial Manipulator

    Directory of Open Access Journals (Sweden)

    Yuquan Leng

    2015-01-01

    Full Text Available Space manipulators are mainly used in the spatial loading task. According to problems of the spatial loading diversity, the testing loading installing position, and the utilization ratio of a test platform, the space manipulator is asked to evaluate the position and attitude of itself. This paper proposes the Point Omnidirectional Coefficient (POC with unit attitude sphere/circle to describe attitude of the end-effector, which evaluates any points in the attainable space of the manipulators, in combination with the manipulation’s position message, and get relationships between its position and attitude of all points in the attainable space. It represents the mapping between sphere surface and plane for mission attitude constraints and the method for calculating volume of points space including attainable space, Omnidirectional space, and mission attitude space. Furthermore, the Manipulator Omnidirectional Coefficient based on mission or not is proposed for evaluating manipulator performance. Through analysis and simulation about 3D and 2D manipulators, the results show that the above theoretical approach is feasible and the relationships about link lengths, joints angles, attainable space, and Manipulator Omnidirectional Coefficient are drawn for guiding design.

  11. Manipulator control by exact linearization

    Science.gov (United States)

    Kruetz, K.

    1987-01-01

    Comments on the application to rigid link manipulators of geometric control theory, resolved acceleration control, operational space control, and nonlinear decoupling theory are given, and the essential unity of these techniques for externally linearizing and decoupling end effector dynamics is discussed. Exploiting the fact that the mass matrix of a rigid link manipulator is positive definite, a consequence of rigid link manipulators belonging to the class of natural physical systems, it is shown that a necessary and sufficient condition for a locally externally linearizing and output decoupling feedback law to exist is that the end effector Jacobian matrix be nonsingular. Furthermore, this linearizing feedback is easy to produce.

  12. Dominating Manipulations in Voting with Partial Information

    CERN Document Server

    Conitzer, Vincent; Xia, Lirong

    2011-01-01

    We consider manipulation problems when the manipulator only has partial information about the votes of the nonmanipulators. Such partial information is described by an information set, which is the set of profiles of the nonmanipulators that are indistinguishable to the manipulator. Given such an information set, a dominating manipulation is a non-truthful vote that the manipulator can cast which makes the winner at least as preferable (and sometimes more preferable) as the winner when the manipulator votes truthfully. When the manipulator has full information, computing whether or not there exists a dominating manipulation is in P for many common voting rules (by known results). We show that when the manipulator has no information, there is no dominating manipulation for many common voting rules. When the manipulator's information is represented by partial orders and only a small portion of the preferences are unknown, computing a dominating manipulation is NP-hard for many common voting rules. Our results t...

  13. Autonomous Industrial Mobile Manipulation (AIMM)

    DEFF Research Database (Denmark)

    Hvilshøj, Mads; Bøgh, Simon; Nielsen, Oluf Skov

    2012-01-01

    Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper investiga......Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper......; sustainability, configuration, adaptation, autonomy, positioning, manipulation and grasping, robot-robot interaction, human-robot interaction, process quality, dependability, and physical properties. Findings - The concise yet comprehensive review provides both researchers (academia) and practitioners (industry...... Manipulation (AIMM)....

  14. Manipulating scattering features by metamaterials

    Directory of Open Access Journals (Sweden)

    Lu Cui

    2016-01-01

    Full Text Available We present a review on manipulations of electromagnetic scattering features by using metamaterials or metasurfaces. Several approaches in controlling the scattered fields of objects are presented, including invisibility cloaks and radar illusions based on transformation optics, carpet cloak using gradient metamaterials, dc cloaks, mantle cloaks based on scattering cancellation, “skin” cloaks using phase compensation, scattering controls with coding/programmable metasurfaces, and scattering reductions by multilayered structures. Finally, the future development of metamaterials on scattering manipulation is predicted.

  15. Manipulating scattering features by metamaterials

    Directory of Open Access Journals (Sweden)

    Lu Cui

    2016-01-01

    Full Text Available We present a review on manipulations of electromagnetic scattering features by using metamaterials or metasurfaces. Several approaches in controlling the scattered fields of objects are presented, including invisibility cloaks and radar illusions based on transformation optics, carpet cloak using gradient metamaterials, dc cloaks, mantle cloaks based on scattering cancellation, “skin” cloaks using phase compensation, scattering controls with coding/programmable metasurfaces, and scattering reductions by multilayered structures. Finally, the future development of metamaterials on scattering manipulation is predicted.

  16. State of the art and future of robot technology; Robot gijutsu no genjo to shorai

    Energy Technology Data Exchange (ETDEWEB)

    Hashimoto, A. [Kinki University, Osaka (Japan). Faculty of Biology Oriented Science and Technology

    1995-12-31

    This paper outlines mainly the mechanism and control of robots among various robot technologies. Robot is a mechanical equipment satisfying a part or all of three following conditions: (1) three elements equivalent to brain, hand and foot, (2) external sensors for remote detection and contact detection, and (3) internal sensors for balance sense and proprioceptive sense. Motion functions with the degree of freedom equivalent at least to a part of manipulation actions of human arm and hand are required for the robot which is expected to be an intelligent machine substituted for human beings dislike simple repetitive works. This paper also explains some current examples of robot`s joint drive mechanism and motion control system. On control technology, the autonomous attitude control of plasma spray guns using ultrasonic sensor was studied experimentally, and the reliability and accuracy of location and attitude control were confirmed. On medical and welfare robot, the friendly rehabilitation equipment for finger joint troubles was developed on the basis of a multi-joint robot. 4 refs., 17 figs., 2 tabs.

  17. Selective Manipulation of Neural Circuits.

    Science.gov (United States)

    Park, Hong Geun; Carmel, Jason B

    2016-04-01

    Unraveling the complex network of neural circuits that form the nervous system demands tools that can manipulate specific circuits. The recent evolution of genetic tools to target neural circuits allows an unprecedented precision in elucidating their function. Here we describe two general approaches for achieving circuit specificity. The first uses the genetic identity of a cell, such as a transcription factor unique to a circuit, to drive expression of a molecule that can manipulate cell function. The second uses the spatial connectivity of a circuit to achieve specificity: one genetic element is introduced at the origin of a circuit and the other at its termination. When the two genetic elements combine within a neuron, they can alter its function. These two general approaches can be combined to allow manipulation of neurons with a specific genetic identity by introducing a regulatory gene into the origin or termination of the circuit. We consider the advantages and disadvantages of both these general approaches with regard to specificity and efficacy of the manipulations. We also review the genetic techniques that allow gain- and loss-of-function within specific neural circuits. These approaches introduce light-sensitive channels (optogenetic) or drug sensitive channels (chemogenetic) into neurons that form specific circuits. We compare these tools with others developed for circuit-specific manipulation and describe the advantages of each. Finally, we discuss how these tools might be applied for identification of the neural circuits that mediate behavior and for repair of neural connections.

  18. Learning Area and Perimeter with Virtual Manipulatives

    Science.gov (United States)

    Bouck, Emily; Flanagan, Sara; Bouck, Mary

    2015-01-01

    Manipulatives are considered a best practice for educating students with disabilities, but little research exists which examines virtual manipulatives as tool for supporting students in mathematics. This project investigated the use of a virtual manipulative through the National Library of Virtual Manipulatives--polynominoes (i.e., tiles)--as a…

  19. Advanced manipulation for autonomous mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Babcock, S.M.; Hamel, W.R.; Killough, S.M.

    1986-01-01

    This paper describes the development, mechanical configuration, and control system architecture of a lightweight, high performance, seven-degree-of-freedom manipulator at the Center for Engineering Systems Advanced Research (CESAR). Current activities focusing on modeling and parameter identification will provide a well-characterized manipulator for analytical and experimental research in manipulator dynamics and controls, coordinated manipulation, and autonomous mobile robotics.

  20. A six degrees of freedom mems manipulator

    NARCIS (Netherlands)

    de Jong, B.R.

    2006-01-01

    This thesis reports about a six degrees of freedom (DOF) precision manipulator in MEMS, concerning concept generation for the manipulator followed by design and fabrication (of parts) of the proposed manipulation concept in MEMS. Researching the abilities of 6 DOF precision manipulation in MEMS is

  1. Adaptive output stabilization of manipulators

    Energy Technology Data Exchange (ETDEWEB)

    Colbaugh, R.; Glass, K.; Barany, E. [New Mexico State Univ., Las Cruces, NM (United States)

    1994-12-31

    This paper considers the position regulation problem for rigid robots for the case in which only joint position measurements are available, and proposes two adaptive controllers as solutions to this problem. The first controller is developed by assuming that the structure of the vector of gravity torques is known, but that the inertial parameters for the manipulator and payload are unknown; it is shown that this scheme ensures semiglobal stability and convergence of the position error to zero. Alternatively, the second adaptive strategy is derived under the assumption that no information is available concerning the manipulator model, and in this case it is shown that the controller provides uniform boundedness of all signals and exponential convergence of the position error to a set which can be made arbitrarily small. Experimental results are presented for a Zebra Zero manipulator and demonstrate that the proposed approach provides a simple and effective means of obtaining high performance position regulation.

  2. Manipulating complex light with metamaterials.

    Science.gov (United States)

    Zeng, Jinwei; Wang, Xi; Sun, Jingbo; Pandey, Apra; Cartwright, Alexander N; Litchinitser, Natalia M

    2013-10-02

    Recent developments in the field of metamaterials have revealed unparalleled opportunities for "engineering" space for light propagation; opening a new paradigm in spin- and quantum-related phenomena in optical physics. Here we show that unique optical properties of metamaterials (MMs) open unlimited prospects to "engineer" light itself. We propose and demonstrate for the first time a novel way of complex light manipulation in few-mode optical fibers using optical MMs. Most importantly, these studies highlight how unique properties of MMs, namely the ability to manipulate both electric and magnetic field components of electromagnetic (EM) waves, open new degrees of freedom in engineering complex polarization states of light at will, while preserving its orbital angular momentum (OAM) state. These results lay the first steps in manipulating complex light in optical fibers, likely providing new opportunities for high capacity communication systems, quantum information, and on-chip signal processing.

  3. Understanding pharmaceutical research manipulation in the context of accounting manipulation.

    Science.gov (United States)

    Brown, Abigail

    2013-01-01

    The problem of the manipulation of data that arises when there is both opportunity and incentive to mislead is better accepted and studied - though by no means solved - in financial accounting than in medicine. This article analyzes pharmaceutical company manipulation of medical research as part of a broader problem of corporate manipulation of data in the creation of accounting profits. The article explores how our understanding of accounting fraud and misinformation helps us understand the risk of similar information manipulation in the medical sciences. This understanding provides a framework for considering how best to improve the quality of medical research and analysis in light of the current system of medical information production. I offer three possible responses: (1) use of the Dodd-Frank whistleblower provisions to encourage reporting of medical research fraud; (2) a two-step academic journal review process for clinical trials; and (3) publicly subsidized trial-failure insurance. These would improve the release of negative information about drugs, thereby increasing the reliability of positive information.

  4. New techniques on embryo manipulation.

    Science.gov (United States)

    Escribá, M J; Valbuena, D; Remohí, J; Pellicer, A; Simón, C

    2002-01-01

    For many years, experience has been accumulated on embryo and gamete manipulation in livestock animals. The present work is a review of these techniques and their possible application in human embryology in specific cases. It is possible to manipulate gametes at different levels, producing paternal or maternal haploid embryos (hemicloning), using different techniques including nuclear transfer. At the embryonic stage, considering practical, ethical and legal issues, techniques will be reviewed that include cloning and embryo splitting at the cleavage stage, morula, or blastocyst stage.

  5. Dynamic Control of Kinematically Redundant Robotic Manipulators

    Directory of Open Access Journals (Sweden)

    Erling Lunde

    1987-07-01

    Full Text Available Several methods for task space control of kinematically redundant manipulators have been proposed in the literature. Most of these methods are based on a kinematic analysis of the manipulator. In this paper we propose a control algorithm in which we are especially concerned with the manipulator dynamics. The algorithm is particularly well suited for the class of redundant manipulators consisting of a relatively small manipulator mounted on a larger positioning part.

  6. Optical manipulation of valley pseudospin

    Science.gov (United States)

    Ye, Ziliang; Sun, Dezheng; Heinz, Tony F.

    2017-01-01

    The coherent manipulation of spin and pseudospin underlies existing and emerging quantum technologies, including quantum communication and quantum computation. Valley polarization, associated with the occupancy of degenerate, but quantum mechanically distinct valleys in momentum space, closely resembles spin polarization and has been proposed as a pseudospin carrier for the future quantum electronics. Valley exciton polarization has been created in the transition metal dichalcogenide monolayers using excitation by circularly polarized light and has been detected both optically and electrically. In addition, the existence of coherence in the valley pseudospin has been identified experimentally. The manipulation of such valley coherence has, however, remained out of reach. Here we demonstrate all-optical control of the valley coherence by means of the pseudomagnetic field associated with the optical Stark effect. Using below-bandgap circularly polarized light, we rotate the valley exciton pseudospin in monolayer WSe2 on the femtosecond timescale. Both the direction and speed of the rotation can be manipulated optically by tuning the dynamic phase of excitons in opposite valleys. This study unveils the possibility of generation, manipulation, and detection of the valley pseudospin by coupling to photons.

  7. Mapping and Manipulating Facial Expression

    Science.gov (United States)

    Theobald, Barry-John; Matthews, Iain; Mangini, Michael; Spies, Jeffrey R.; Brick, Timothy R.; Cohn, Jeffrey F.; Boker, Steven M.

    2009-01-01

    Nonverbal visual cues accompany speech to supplement the meaning of spoken words, signify emotional state, indicate position in discourse, and provide back-channel feedback. This visual information includes head movements, facial expressions and body gestures. In this article we describe techniques for manipulating both verbal and nonverbal facial…

  8. How to manipulate the microbiota

    NARCIS (Netherlands)

    Fuentes Enriquez de Salamanca, Susana; Vos, de Willem M.

    2016-01-01

    Fecal microbiota transplantation (FMT) is a rather straightforward therapy that manipulates the human gastrointestinal (GI) microbiota, by which a healthy donor microbiota is transferred into an existing but disturbed microbial ecosystem. This is a natural process that occurs already at birth; in

  9. Manipulating Genetic Material in Bacteria

    Science.gov (United States)

    1998-01-01

    Lisa Crawford, a graduate research assistant from the University of Toledo, works with Laurel Karr of Marshall Space Flight Center (MSFC) in the molecular biology laboratory. They are donducting genetic manipulation of bacteria and yeast for the production of large amount of desired protein. Photo credit: NASA/Marshall Space Flight Center (MSFC)

  10. How to manipulate the microbiota

    NARCIS (Netherlands)

    Fuentes Enriquez de Salamanca, Susana; Vos, de Willem M.

    2016-01-01

    Fecal microbiota transplantation (FMT) is a rather straightforward therapy that manipulates the human gastrointestinal (GI) microbiota, by which a healthy donor microbiota is transferred into an existing but disturbed microbial ecosystem. This is a natural process that occurs already at birth; in

  11. Teaching Integration Applications Using Manipulatives

    Science.gov (United States)

    Bhatia, Kavita; Premadasa, Kirthi; Martin, Paul

    2014-01-01

    Calculus students' difficulties in understanding integration have been extensively studied. Research shows that the difficulty lies with students understanding of the definition of the definite integral as a limit of a Riemann sum and with the idea of accumulation inherent in integration. We have created a set of manipulatives and activities…

  12. Adaptive Control Of Remote Manipulator

    Science.gov (United States)

    Seraji, Homayoun

    1989-01-01

    Robotic control system causes remote manipulator to follow closely reference trajectory in Cartesian reference frame in work space, without resort to computationally intensive mathematical model of robot dynamics and without knowledge of robot and load parameters. System, derived from linear multivariable theory, uses relatively simple feedforward and feedback controllers with model-reference adaptive control.

  13. DYMAFLEX: DYnamic Manipulation FLight EXperiment

    Science.gov (United States)

    2013-09-03

    Moosavian. Learning- based Modified Transpose Jacobian control of robotic manipulators. In Proc. IEEE Conf. on Advanced Intelligent Mechatronics , pages...34Path planning for minimizing base reaction of space robot and its ground experimental study," in IEEE International Conference on Mechatronics

  14. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    Energy Technology Data Exchange (ETDEWEB)

    Joseph W. Geisinger, Ph.D.

    2001-07-31

    ARM Automation, Inc. is developing a framework of modular actuators that can address the DOE's wide range of robotics needs. The objective of this effort is to demonstrate the effectiveness of this technology by constructing a manipulator from these actuators within a glovebox for Automated Plutonium Processing (APP). At the end of the project, the system of actuators was used to construct several different manipulator configurations, which accommodate common glovebox tasks such as repackaging. The modular nature and quickconnects of this system simplify installation into ''hot'' boxes and any potential modifications or repair therein. This work focused on the development of self-contained robotic actuator modules including the embedded electronic controls for the purpose of building a manipulator system. Both of the actuators developed under this project contain the control electronics, sensors, motor, gear train, wiring, system communications and mechanical interfaces of a complete robotics servo device. Test actuators and accompanying DISC{trademark}s underwent validation testing at The University of Texas at Austin and ARM Automation, Inc. following final design and fabrication. The system also included custom links, an umbilical cord, an open architecture PC-based system controller, and operational software that permitted integration into a completely functional robotic manipulator system. The open architecture on which this system is based avoids proprietary interfaces and communication protocols which only serve to limit the capabilities and flexibility of automation equipment. The system was integrated and tested in the contractor's facility for intended performance and operations. The manipulator was tested using the full-scale equipment and process mock-ups. The project produced a practical and operational system including a quantitative evaluation of its performance and cost.

  15. Genetic manipulation of Francisella tularensis

    Directory of Open Access Journals (Sweden)

    Xhavit eZogaj

    2011-01-01

    Full Text Available Francisella tularensis is a facultative intracellular pathogen that causes the disease tularemia. F. tularensis subsp. tularensis causes the most severe disease in humans and has been classified as a select A agent and potential bioweapon. There is currently no vaccine approved for human use, making genetic manipulation of this organism critical to unraveling the genetic basis of pathogenesis and developing countermeasures against tularemia. The development of genetic techniques applicable to F. tularensis have lagged behind those routinely used for other bacteria, primarily due to lack of research and the restricted nature of the biocontainment required for studying this pathogen. However, in recent years, genetic techniques, such as transposon mutagenesis and targeted gene disruption, have been developed, that have had a dramatic impact on our understanding of the genetic basis of F. tularensis virulence. In this review, we describe some of the methods developed for genetic manipulation of F. tularensis.

  16. Accurate manipulation using laser technology

    Science.gov (United States)

    Hoving, Willem

    1997-08-01

    In the industrial production of electrical, optical, and micro-mechanical components, progress in miniaturization requires improved adjusting techniques. Sub-micrometer accuracy adjustment must be obtained within seconds, and the accuracy should be stable over many years. All methods that are presently applied for manipulation in sub-micron dimensions are cumbersome, time-consuming, and tedious, and require expensive equipment. A novel method, laser adjustment, is being explored in which permanent deformation of thin metal sheets are obtained by using thermo-mechanical stresses that occur when the sheets are locally heated using short, intense laser pulses. Manipulation along several degrees of freedom can be realized by both out-of-plane and in-plane laser adjustment or a combination thereof. Within the Brite-Euram project AMULET this new automated micro- manufacturing technology for mass production is developed in order to assemble components where tolerance conditions and accessibility are beyond human capability.

  17. List manipulation in Turbo Prolog

    Directory of Open Access Journals (Sweden)

    V.Cotelea

    1995-06-01

    Full Text Available The present paper is concerned with list processing in Turbo Prolog language. It doesn't claim to be an exhaustive description of operations which can be performed upon lists. Nevertheless adduced programs are most representative, more or less known to specialists in logic programming domain. By means of examples are explained the list manipulation techniques, use of recursion, declarative comparison of predicates, analysis and fixation of acceptable prototypes and some problems of predicates' inconsistency. Index terms. Prolog, list, recursion.

  18. Manipulation of Biofilm Microbial Ecology

    Energy Technology Data Exchange (ETDEWEB)

    White, D.C.; Palmer, R.J., Jr.; Zinn, M.; Smith, C.A.; Burkhalter, R.; Macnaughton, S.J.; Whitaker, K.W.; Kirkegaard, R.D.

    1998-08-15

    The biofilm mode of growth provides such significant advantages to the members of the consortium that most organisms in important habitats are found in biofilms. The study of factors that allow manipulation of biofilm microbes in the biofilm growth state requires that reproducible biofilms be generated. The most effective monitoring of biofilm formation, succession and desaturation is with on-line monitoring of microbial biofilms with flowcell for direct observation. The biofilm growth state incorporates a second important factor, the heterogeneity in distribution in time and space of the component members of the biofilm consortium. This heterogeneity is reflected not only in the cellular distribution but in the metabolic activity within a population of cells. Activity and cellular distribution can be mapped in four dimensions with confocal microscopy, and function can be ascertained by genetically manipulated reporter functions for specific genes or by vital stains. The methodology for understanding the microbial ecology of biofilms is now much more readily available and the capacity to manipulate biofilms is becoming an important feature of biotechnology.

  19. Tools for Manipulation and Characterisation of Nanostructures

    DEFF Research Database (Denmark)

    Mølhave, Kristian; Bøggild, Peter

    grippers, which were then successfully used for pick-and-place manipulation of silicon nanowires. For increased gripping force and control over the manipulation process, microfabricated grippers with integrated force-feedback were also demonstrated. Environmental electron beam deposition (EEBD...

  20. Search versus Decision for Election Manipulation Problems

    OpenAIRE

    Hemaspaandra, Edith; Hemaspaandra, Lane A.; Menton, Curtis

    2012-01-01

    Most theoretical definitions about the complexity of manipulating elections focus on the decision problem of recognizing which instances can be successfully manipulated, rather than the search problem of finding the successful manipulative actions. Since the latter is a far more natural goal for manipulators, that definitional focus may be misguided if these two complexities can differ. Our main result is that they probably do differ: If integer factoring is hard, then for election manipulati...

  1. Optoelectrofluidic Manipulation of Nanoparticles and Biomolecules

    Directory of Open Access Journals (Sweden)

    Hyundoo Hwang

    2011-01-01

    Full Text Available This paper presents optoelectrofluidic technologies for manipulation of nanoparticles and biomolecules. Optoelectrofluidics provides an elegant scheme for the programmable manipulation of particles or fluids in microenvironments based on optically induced electrokinetics. Recent progress on the optoelectrofluidic manipulation of nanoobjects, which include nanospheres, nanowires, nanotubes, and biomolecules, is introduced. Some potential applications of the optoelectrofluidic nanoparticle manipulation, such as nanoparticles separation, nanostructures manufacturing, molecular physics, and clinical diagnostics, and their future directions are also discussed.

  2. Robotic manipulation with flexible link fingers

    OpenAIRE

    Sur, Sudipto

    1997-01-01

    A robot manipulator is a spatial mechanism consisting essentially of a series of bodies, called "links", connected to each other at "joints". The joints can be of various types: revolute, rotary, planar, prismatic, telescopic or combinations of these. A serial connection of the links results in an open-chain manipulator. Closed-chain manipulators result from non-serial (or parallel) connections between links. Actuators at the joints of the manipulator provide power for motion. A rob...

  3. Managing collaboration in the nanoManipulator

    DEFF Research Database (Denmark)

    Hudson, Thomas C.; Heiser, Aron T.; Sonnenwald, Diane H.

    2003-01-01

    We designed, developed, deployed, and evaluated the Collaborative nanoManipulator (CnM), a system supporting remote collaboration between users of the nanoManipulator interface to atomic force microscopes. To be accepted by users, the shared nanoManipulator application had to have the same high...

  4. Managing collaboration in the nanoManipulator

    DEFF Research Database (Denmark)

    Hudson, Thomas C.; Heiser, Aron T.; Sonnenwald, Diane H.;

    2003-01-01

    We designed, developed, deployed, and evaluated the Collaborative nanoManipulator (CnM), a system supporting remote collaboration between users of the nanoManipulator interface to atomic force microscopes. To be accepted by users, the shared nanoManipulator application had to have the same high l...

  5. Optical manipulation for optogenetics: otoliths manipulation in zebrafish (Conference Presentation)

    Science.gov (United States)

    Favre-Bulle, Itia A.; Scott, Ethan; Rubinsztein-Dunlop, Halina

    2016-03-01

    Otoliths play an important role in Zebrafish in terms of hearing and sense of balance. Many studies have been conducted to understand its structure and function, however the encoding of its movement in the brain remains unknown. Here we developed a noninvasive system capable of manipulating the otolith using optical trapping while we image its behavioral response and brain activity. We'll also present our tools for behavioral response detection and brain activity mapping. Acceleration is sensed through movements of the otoliths in the inner ear. Because experimental manipulations involve movements, electrophysiology and fluorescence microscopy are difficult. As a result, the neural codes underlying acceleration sensation are poorly understood. We have developed a technique for optically trapping otoliths, allowing us to simulate acceleration in stationary larval zebrafish. By applying forces to the otoliths, we can elicit behavioral responses consistent with compensation for perceived acceleration. Since the animal is stationary, we can use calcium imaging in these animals' brains to identify the functional circuits responsible for mediating responses to acceleration in natural settings.

  6. Distribution of control decisions in remote manipulation

    Science.gov (United States)

    Bejczy, A. K.

    1975-01-01

    The particular characteristics of the problem of distributing control decisions between man and computer in remotely controlled manipulation are discussed. State of the art is reviewed from two viewpoints: (1) specifications of both control commands and control context of sensor signals the operator inputs to the manipulator control computer; (2) operations the manipulator control computer performs on operator commands and realtime sensor signals to control the manipulator for a specified task. JPL breadboard systems, system components, and control experiments are described related to the development and evaluation of manipulator control systems with capabilities of distributing control decisions between man and computer.

  7. Wave Manipulation by Topology Optimization

    DEFF Research Database (Denmark)

    Andkjær, Jacob Anders

    Sound and light propagate as waves and are scattered, reflected and change direction when encountering other media and obstacles. By optimizing the spatial placement and distribution of the media, which the waves encounter, one can obtain useful and interesting effects. This thesis describes how...... topology optimization can be used to design structures for manipulation of the electromagnetic and acoustic waves. The wave problems considered here fall within three classes. The first class concerns the design of cloaks, which when wrapped around an object will render the object undetectable...

  8. Querying and Manipulating Temporal Databases

    Directory of Open Access Journals (Sweden)

    Mohamed Mkaouar

    2011-03-01

    Full Text Available Many works have focused, for over twenty five years, on the integration of the time dimension indatabases (DB. However, the standard SQL3 does not yet allow easy definition, manipulation andquerying of temporal DBs. In this paper, we study how we can simplify querying and manipulatingtemporal facts in SQL3, using a model that integrates time in a native manner. To do this, we proposenew keywords and syntax to define different temporal versions for many relational operators andfunctions used in SQL. It then becomes possible to perform various queries and updates appropriate totemporal facts. We illustrate the use of these proposals on many examples from a real application.

  9. Genetic manipulation of Methanosarcina spp.

    Directory of Open Access Journals (Sweden)

    Petra Regine Adelheid Kohler

    2012-07-01

    Full Text Available The discovery of the third domain of life, the Archaea, is one of the most exciting findings of the last century. These remarkable prokaryotes are well known for their adaptations to extreme environments; however, Archaea have also conquered moderate environments. Many of the archaeal biochemical processes, such as methane production, are unique in nature and therefore of great scientific interest. Although formerly restricted to biochemical and physiological studies, sophisticated systems for genetic manipulation have been developed during the last two decades for methanogenic archaea, halophilic archaea and thermophilic, sulfur-metabolizing archaea. The availability of these tools has allowed for more complete studies of archaeal physiology and metabolism and most importantly provides the basis for the investigation of gene expression, regulation and function. In this review we provide an overview of methods for genetic manipulation of Methanosarcina spp., a group of methanogenic archaea that are key players in the global carbon cycle and which can be found in a variety of anaerobic environments.

  10. Planar Serial Manipulator Motion Synthesis

    Institute of Scientific and Technical Information of China (English)

    Yanhui Wei; Han Han; Zepeng Wang; Xin Liu; Guangchun Li

    2015-01-01

    This paper deals with the universal serial manipulator on the inverse kinematics problem of plane type, the fast working space solution method, and the obstacle avoidance path planning method. With the vector projection as the main constraint condition of the target, it proposes a general form of the inverse kinematics solution which does not depend on the robot configuration of freedom degree. By identifying the target vector direction maximum and minimum workspace boundary and determining the destination vector by thick search on the workspace boundary method, an expressing method of the polar coordinate form of work space is then introduced. Finally, according to the form of plane trajectory planning for obstacle avoidance problem, the method of solving the inverse kinematics solution of the concave and convex forms of the safe obstacle avoidance area is improved. The simulation results verify that the proposed method has feasibility and generality.

  11. Task Space Tracking for Manipulators

    Directory of Open Access Journals (Sweden)

    Olav Egeland

    1985-04-01

    Full Text Available For the purpose of controlling a manipulator in the task space, a linear model with task space position and velocity as state variables can be developed. This is done by means of exact compensation of the state-space model non-linearities using non-linear feedback. In this paper, feedback control for this linear state space model is developed using optimal control theory. Integral action is included to compensate for unmodeled forces and torques. In the resulting control system, the problem of transforming the task space trajectory to the joint space is avoided, and the controller parameters can be chosen to satisfy requirements specified in the task space. Simulation experiments show promising results.

  12. Incretin manipulation in diabetes management

    Institute of Scientific and Technical Information of China (English)

    2015-01-01

    Incretin-based therapies have revolutionized the medicalmanagement of type 2 diabetes mellitus (T2DM)in the 21st century. Glucagon-like peptide-1 (GLP-1)suppresses appetite and gastric motility, and has trophiceffects on pancreas, cardio-protective and renal effects.GLP-1 analogues and dipeptidyl peptidase-4 inhibitorsform the incretin-based therapies. Significant reductionof hemoglobin A1c when used as monotherapy andin combination regimens, favorable effects on bodyweight, and low risk of hypoglycemia are their uniquetherapeutic benefits. Their safety and tolerability arecomparable to other anti-diabetic medications. Concernabout elevated risk of pancreatitis has been discardedby two recent meta-analyses. This article discussesthe therapeutic manipulation of incretin system for themanagement of T2DM.

  13. Multidiscipline simulation of elastic manipulators

    Directory of Open Access Journals (Sweden)

    T. Rølvåg

    1992-10-01

    Full Text Available This paper contributes to multidiscipline simulation of elastic robot manipulators in FEDEM. All developments presented in this paper are based on the formulations in FEDEM, a simulation system developed by the authors which combines finite element, mechanism and control analysis. In order to establish this general simulation system as an efficient multidiscipline robot design tool a robot control system including a high level robot programming language, interpolation algorithms, path generation algorithms, forward and inverse kinematics, control systems, gear and transmission models are implemented. These new features provide a high level of integration between traditionally separate design disciplines from the very beginning of the design and optimization process. Several simulations have shown that high fidelity mathematical models can be derived and used as a basis for dynamic analysis and controller design in FEDEM.

  14. Combined method for parallel manipulator configuration design

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

    Configuration design is an essential, creative and decision-making step in parallel manipulator design process, in which modeling and assembly are iterative and trivial. Combined approach with automatic parametric modeling and automatic assembly is proposed for parallel manipulator configuration design. The design process and key techniques, such as configuration design, configuration verification, poses calculation of all parts in parallel manipulator, virtual assembly and etc., are discussed and demonstrated by an example. A software package is developed for parallel manipulator configuration design based on the proposed method with Visual C+ + and UG/OPEN on Unigraphics.

  15. Nano-manipulation of single DNA molecules

    Institute of Scientific and Technical Information of China (English)

    HU Jun; L(U) Jun-Hong; LI Hai-Kuo; AN Hong-Jie; WANG Guo-Hua; WANG Ying; LI Min-Qian; ZHANG Yi; LI Bin

    2004-01-01

    Nano-manipulation of single atoms and molecules is a critical technique in nanoscience and nanotechnology. This review paper will focus on the recent development of the manipulation of single DNA molecules based on atomic force microscopy (AFM). Precise manipulation has been realized including varied manipulating modes such as "cutting", "pushing", "folding", "kneading", "picking up", "dipping", etc. The cutting accuracy is dominated by the size of the AFM tip, which is usually 10nm or less. Single DNA fragments can be cut and picked up and then amplified by single molecule PCR. Thus positioning isolation and sequencing can be performed.

  16. A Review of Ultrasonic Nano Manipulation Technology

    Institute of Scientific and Technical Information of China (English)

    Junhui Hu∗

    2016-01-01

    Nano manipulation technology has great potential applications in the assembly, measurement and fabrication of nano materials, actuating and high-sensitivity sensing of biological samples, manufacture of nano sensors, decontamination of air and water, etc. As an actuating technology which is far from being mature, the nano manipulation still faces lots of challenges in the device principles, design, scaling up, sample safety, etc. The ultrasonic nano manipulation, in which nanoscale objects are handled and actuated by controlled ultrasound, is an emerging technology to meet some of challenges in nano manipulations. The author’ s research team and other groups have proposed and realized a series of nano manipulation functions such as trapping, transfer, rotation and concentration since 2012, by controlled ultrasound. Compared with other nano manipulating techniques, the ultrasonic method has the merits such as very low temperature rise at the manipulation area, little selectivity to the material properties of manipulated samples, capability of being implemented on the substrates without MENS or NEMS structure, etc. This paper reviews the progresses in principles, functions, structures and characteristics of the ultrasonic devices for nano manipulations.

  17. Human-like Manipulation Planning for Articulated Manipulator

    Institute of Scientific and Technical Information of China (English)

    Yahui Gan; Xianzhong Dai

    2012-01-01

    A new method based on human-likeness assessment and optimization concept to solve the problem of human-like manipulation planning for articulated robot is proposed in this paper.This method intrinsically formulates the problem as a constrained optimization problem in robot configuration space.The robot configuration space is divided into different subregions by human likeness assessment.A widely used strategy,Rapid Upper Limb Assessment (RULA) in applied ergonomics,is adopted here to evaluate the human likeness of robot configuration.A task compatibility measurement of the robot velocity transmission ratio along a specified direction is used as the target function for the optimization problem.Simple illustrative examples of this method applied to a two Degree of Freedom (DOF) planar robot that resembles the upper limb of a human are presented.Further applications to a humanoid industrial robot SDA10D are also presented.The reasonable planning results for these applications assert the effectiveness of our method.

  18. Spinal manipulative therapy in sports medicine.

    Science.gov (United States)

    Haldeman, S

    1986-04-01

    Spinal manipulation or manual therapy is becoming an increasingly popular method of treating athletes with spinal problems. The primary theoretic basis for the claimed beneficial results of manipulation is the restoration of motion with subsequent effect on ligamentous adhesions, muscle spasm, disk nutrition, and central nervous system endorphin systems. The concept of joint barriers has been developed to differentiate among exercise therapy, mobilization, and manipulation. Research trials suggest that spinal manipulation is beneficial in relieving or reducing the duration of acute low back pain and acute neck pain but has much less effect on chronic low back pain and neck pain. There is evidence that manipulation increases certain parameters of motion of the spine but this evidence is not yet conclusive. There are a wide variety of manipulative procedures that are utilized to manipulate the spine to increase range of motion, and the selection of the procedures is based on manual diagnostic skills. Manipulation, however, is not a benign procedure and has been implicated in the aggravation of disk herniation or bony fractures as well as the precipitation of vertebrobasilar artery occlusion.

  19. Manipulation or Mobilisation for Neck Pain

    NARCIS (Netherlands)

    A. Gross; J. Miller; J. D'Sylva; S.J. Burnie; C.H. Goldsmith; N. Graham; T. Haines; G. Brønfort; J.L. Hoving

    2010-01-01

    Background Manipulation and mobilisation are often used, either alone or combined with other treatment approaches, to treat neck pain. Objectives To assess if manipulation or mobilisation improves pain, function/disability, patient satisfaction, quality of life, and global perceived effect in adults

  20. Manipulation performance in interactive virtual environments

    NARCIS (Netherlands)

    Werkhoven, P.J.; Groen, J.

    1998-01-01

    We have studied manipulation performance in virtual environments using two types of controllers: virtual hand control and 3D mouse-cursor control. These manipulation methods were tested under monoscopic and stereoscopic viewing conditions. Participants were asked to discriminate, grasp, pitch, roll

  1. Managing collaboration in the nanoManipulator

    DEFF Research Database (Denmark)

    Hudson, Thomas C.; Helser, Aren T.; Sonnenwald, Diane H.

    2004-01-01

    We designed, developed, deployed, and evaluated the Collaborative nanoManipulator (CnM), a distributed, collaborative virtual environment system supporting remote scientific collaboration between users of the nanoManipulator interface to atomic force microscopes. This paper describes the entire...

  2. Outcome manipulation in corporate prediction markets

    DEFF Research Database (Denmark)

    Ottaviani, Marco; Sørensen, Peter Norman

    2007-01-01

    This paper presents a framework for applying prediction markets to corporate decision-making. The analysis is motivated by the recent surge of interest in markets as information aggregation devices and their potential use within firms. We characterize the amount of outcome manipulation that results...... in equilibrium and the impact of this manipulation on market prices...

  3. Manipulating Language: A Strategy for Teaching Literature.

    Science.gov (United States)

    Byers, Prudence P.

    Literary artists manipulate language. If educators could develop in their students the same sense that language is manipulable, they could help them to better appreciate literature. Emily Dickinson's poem "I Like to See It Lap the Miles" could be approached by changing it on several levels--graphics, phonics, syntax, and semantics--and…

  4. Manipulating Language: A Strategy for Teaching Literature.

    Science.gov (United States)

    Byers, Prudence P.

    Literary artists manipulate language. If educators could develop in their students the same sense that language is manipulable, they could help them to better appreciate literature. Emily Dickinson's poem "I Like to See It Lap the Miles" could be approached by changing it on several levels--graphics, phonics, syntax, and semantics--and…

  5. Microcrystal manipulation with laser tweezers

    Energy Technology Data Exchange (ETDEWEB)

    Wagner, Armin, E-mail: armin.wagner@diamond.ac.uk; Duman, Ramona [Diamond Light Source, Harwell Science and Innovation Campus, Chilton, Didcot OX11 0DE (United Kingdom); Stevens, Bob [Nottingham Trent University, Nottingham NG1 4BU (United Kingdom); Ward, Andy [Research Complex at Harwell, Didcot OX11 0FA (United Kingdom); Diamond Light Source, Harwell Science and Innovation Campus, Chilton, Didcot OX11 0DE (United Kingdom)

    2013-07-01

    Optical trapping has successfully been applied to select and mount microcrystals for subsequent X-ray diffraction experiments. X-ray crystallography is the method of choice to deduce atomic resolution structural information from macromolecules. In recent years, significant investments in structural genomics initiatives have been undertaken to automate all steps in X-ray crystallography from protein expression to structure solution. Robotic systems are widely used to prepare crystallization screens and change samples on synchrotron beamlines for macromolecular crystallography. The only remaining manual handling step is the transfer of the crystal from the mother liquor onto the crystal holder. Manual mounting is relatively straightforward for crystals with dimensions of >25 µm; however, this step is nontrivial for smaller crystals. The mounting of microcrystals is becoming increasingly important as advances in microfocus synchrotron beamlines now allow data collection from crystals with dimensions of only a few micrometres. To make optimal usage of these beamlines, new approaches have to be taken to facilitate and automate this last manual handling step. Optical tweezers, which are routinely used for the manipulation of micrometre-sized objects, have successfully been applied to sort and mount macromolecular crystals on newly designed crystal holders. Diffraction data from CPV type 1 polyhedrin microcrystals mounted with laser tweezers are presented.

  6. Workspace of Translation 3-UPU Parallel Manipulators

    Institute of Scientific and Technical Information of China (English)

    罗友高; 郑相周; 宾鸿赞

    2005-01-01

    To determine workspace and relationship between the workspace and geometry of parallel manipulator is important for optimum design of parallel manipulators. In this paper, the workspace and the relationship between the workspace and the geometry of 3-UPU parallel manipulators with pure translation axe investigated. Geometric and non-geometric constraints are defined and taken account of in determining the workspace of the translation 3-UPU manipulators. A direct average condition number is used as the global performance index of the workspace. This research shows that there exists an optimal value of the direct average condition number favorable for a good design of parallel mechanisms. The results presented in this paper are useful for the optimum design of 3-UPU parallel manipulators.

  7. Simulation and analysis of flexibly jointed manipulators

    Science.gov (United States)

    Murphy, Steve H.; Wen, John T.; Saridis, George M.

    1990-01-01

    Modeling, simulation, and analysis of robot manipulators with non-negligible joint flexibility are studied. A recursive Newton-Euler model of the flexibly jointed manipulator is developed with many advantages over the traditional Lagrange-Euler methods. The Newton-Euler approach leads to a method for the simulation of a flexibly jointed manipulator in which the number of computations grows linearly with the number of links. Additionally, any function for the flexibility between the motor and link may be used permitting the simulation of nonlinear effects, such as backlash, in a uniform manner for all joints. An analysis of the control problems for flexibly jointed manipulators is presented by converting the Newton-Euler model to a Lagrange-Euler form. The detailed structure available in the model is used to examine linearizing controllers and shows the dependency of the control on the choice of flexible model and structure of the manipulator.

  8. Confining continuous manipulations of accelerator beamline optics

    CERN Document Server

    Amstutz, Philipp; Bödewadt, Jörn; Lechner, Christoph; Plath, Tim; Vogt, Mathias

    2016-01-01

    Altering the optics in one section of a linear accelerator beamline will in general cause an alteration of the optics in all downstream sections. In circular accelerators, changing the optical properties of any beamline element will have an impact on the optical functions throughout the whole machine. In many cases, however, it is desirable to change the optics in a certain beamline section without disturbing any other parts of the machine. Such a local optics manipulation can be achieved by adjusting a number of additional corrector magnets that restore the initial optics after the manipulated section. In that case, the effect of the manipulation is confined in the region between the manipulated and the correcting beamline elements. Introducing a manipulation continuously, while the machine is operating, therefore requires continuous correction functions to be applied to the correcting quadrupole magnets. In this paper we present an analytic approach to calculate such continuous correction functions for six ...

  9. Laser Diode Beam Basics, Manipulations and Characterizations

    CERN Document Server

    Sun, Haiyin

    2012-01-01

    Many optical design technical books are available for many years which mainly deal with image optics design based on geometric optics and using sequential raytracing technique. Some books slightly touched laser beam manipulation optics design. On the other hand many books on laser diodes have been published that extensively deal with laser diode physics with little touching on laser diode beam manipulations and characterizations. There are some internet resources dealing with laser diode beams. However, these internet resources have not covered enough materials with enough details on laser diode beam manipulations and characterizations. A technical book concentrated on laser diode beam manipulations and characterizations can fit in to the open and provide useful information to laser diode users. Laser Diode Beam Basics, Manipulations and  Characterizations is concentrated on the very practical side of the subject, it only discusses the basic physics and mathematics that are necessary for the readers in order...

  10. Towards MRI guided surgical manipulator.

    Science.gov (United States)

    Chinzei, K; Miller, K

    2001-01-01

    The advantages of surgical robots and manipulators are well recognized in the clinical and technical community. Precision, accuracy and the potential for telesurgery are the prime motivations in applying advanced robot technology in surgery. In this paper critical interactions between Magnetic Resonance Imaging equipment and mechatronic devices are discussed and a novel Magnetic Resonance compatible surgical robot is described. Experimental results of the effects from several passive (metallic materials) and active (ultrasound motors) mechanical elements are demonstrated. The design principles for Magnetic Resonance compatible robots are established and the compatibility of the proposed robot is assessed by comparing images taken with and without the robot's presence within Signa SP/I GE Medical Systems scanner. The results showed that, in principle, it is possible to construct precision mechatronic devices intended to operate inside MR scanner. Use of such a device will not cause image shift or significant degradation of signal-to-noise-ratio. An MR compatible surgical assist robot was designed and constructed. The robot is not affected by the presence of strong magnetic fields and is able to manoeuvre during imaging without compromising the quality of images. A novel image-guided robot control scheme was proposed. As a part of the control scheme, biomechanics-based organ deformation model was constructed and validated by in-vivo experiment. It has been recognised that for robust control of an image guided surgical robot the precise knowledge of the mechanical properties of soft organs operated on must be known. As an illustration, results in mathematical modelling and computer simulation of brain deformation are given. The novel MR compatible robot was designed to position and direct an axisymmetric tool, such as a laser pointer or a biopsy catheter. New Robot control system based on the prediction of soft organ deformation was proposed.

  11. HYBRID POSITION/FORCE MANIPULATION OF MULTIFINGERED HAND

    Institute of Scientific and Technical Information of China (English)

    1998-01-01

    Manipulation of an object interacting with the environment is investigated.Two concepts, position manipulation and force manipulation, and their corresponding schemes are presented, respectively.Then they are combined to develop the hybrid position/force manipulation of a multifingered hand to manipulate an object constrained in the environment.Experiments are performed to demonstrate the practicality and effectiveness of the proposed approach.

  12. Task based synthesis of serial manipulators

    Directory of Open Access Journals (Sweden)

    Sarosh Patel

    2015-05-01

    Full Text Available Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. There is a very close relationship between the structure of the manipulator and its kinematic performance. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators. Such task requirements and performance constraints can be specified in terms of the required end-effector positions, orientations and velocities along the task trajectory. In this work, we present a comprehensive method to develop the optimal geometric structure (DH parameters of a non-redundant six degree of freedom serial manipulator from task descriptions. In this work we define, develop and test a methodology to design optimal manipulator configurations based on task descriptions. This methodology is devised to investigate all possible manipulator configurations that can satisfy the task performance requirements under imposed joint constraints. Out of all the possible structures, the structures that can reach all the task points with the required orientations are selected. Next, these candidate structures are tested to see whether they can attain end-effector velocities in arbitrary directions within the user defined joint constraints, so that they can deliver the best kinematic performance. Additionally least power consuming configurations are also identified.

  13. Fuzzy logic control of telerobot manipulators

    Science.gov (United States)

    Franke, Ernest A.; Nedungadi, Ashok

    1992-01-01

    Telerobot systems for advanced applications will require manipulators with redundant 'degrees of freedom' (DOF) that are capable of adapting manipulator configurations to avoid obstacles while achieving the user specified goal. Conventional methods for control of manipulators (based on solution of the inverse kinematics) cannot be easily extended to these situations. Fuzzy logic control offers a possible solution to these needs. A current research program at SRI developed a fuzzy logic controller for a redundant, 4 DOF, planar manipulator. The manipulator end point trajectory can be specified by either a computer program (robot mode) or by manual input (teleoperator). The approach used expresses end-point error and the location of manipulator joints as fuzzy variables. Joint motions are determined by a fuzzy rule set without requiring solution of the inverse kinematics. Additional rules for sensor data, obstacle avoidance and preferred manipulator configuration, e.g., 'righty' or 'lefty', are easily accommodated. The procedure used to generate the fuzzy rules can be extended to higher DOF systems.

  14. W-026, acceptance test report manipulator system

    Energy Technology Data Exchange (ETDEWEB)

    Watson, T.L.

    1997-04-15

    The purpose of the WRAP Manipulator System Acceptance Test Plan (ATP) is to verify that the 4 glovebox sets of WRAP manipulator components, including rail/carriage, slave arm, master controller and auxiliary equipment, meets the requirements of the functional segments of 14590 specification. The demonstration of performance elements of the ATP are performed as a part of the Assembly specifications. Manipulator integration is integrated in the performance testing of the gloveboxes. Each requirement of the Assembly specification will be carried out in conjunction with glovebox performance tests.

  15. Osteopathic manipulative medicine for carpal tunnel syndrome.

    Science.gov (United States)

    Siu, Gilbert; Jaffe, J Douglas; Rafique, Maryum; Weinik, Michael M

    2012-03-01

    Carpal tunnel syndrome (CTS) is 1 of the most common peripheral nerve entrapment disorders. Osteopathic manipulative medicine can be invaluable in diagnosing and managing CTS. Combined with a patient's history and a standard physical examination, an osteopathic structural examination can facilitate localizing the nerve entrapment, diagnosing CTS, and monitoring the disease process. Osteopathic manipulative treatment is noninvasive and can be used to supplement traditional CTS treatment methods. The authors also review the relevant anatomy involving CTS and the clinical efficacy of osteopathic manipulative medicine in the management of this disorder.

  16. Hydraulic Robotic Surgical Tool Changing Manipulator.

    Science.gov (United States)

    Pourghodrat, Abolfazl; Nelson, Carl A; Oleynikov, Dmitry

    2017-03-01

    Natural orifice transluminal endoscopic surgery (NOTES) is a surgical technique to perform "scarless" abdominal operations. Robotic technology has been exploited to improve NOTES and circumvent its limitations. Lack of a multitasking platform is a major limitation. Manual tool exchange can be time consuming and may lead to complications such as bleeding. Previous multifunctional manipulator designs use electric motors. These designs are bulky, slow, and expensive. This paper presents design, prototyping, and testing of a hydraulic robotic tool changing manipulator. The manipulator is small, fast, low-cost, and capable of carrying four different types of laparoscopic instruments.

  17. Materials Centered Science and Manipulative Skill

    Science.gov (United States)

    Struve, Nancy L.; And Others

    1974-01-01

    Evaluated were effects of experience with two physical science units adapted for use by the visually impaired on the manipulative skills of 14 visually impaired low income students from 9 to 19 years of age. (DB)

  18. ARC Code TI: Geometry Manipulation Protocol (GMP)

    Data.gov (United States)

    National Aeronautics and Space Administration — The Geometry Manipulation Protocol (GMP) is a library which serializes datatypes between XML and ANSI C data structures to support CFD applications. This library...

  19. ADVERTISING AS MEAN OF MANIPULATION OF PEOPLE

    Directory of Open Access Journals (Sweden)

    Camelia PAVEL

    2014-04-01

    Full Text Available The article provides a number of issues involved in defining manipulation, because both in the current language as in the specialty literature, the manipulation notion is used with multiple significations, often contradictory ones, and that it’s not firmly delimited by other notions from the same sphere, like persuasion or propaganda. The aim of the article will be, in the end, removing ambiguity that surrounds this concept and offering a better understanding of its very real effects on human lives. We advance and sustain the hypothesis that manipulation is an illegitimate process, justified by the structure of the human conscience and by the mechanisms of the social life. In addition, the paper provides a concrete example of manipulation of public through advertising contracts offered by Roşia Montană Gold Corporation. Finally conclusions were outlined.

  20. Tension Stiffened and Tendon Actuated Manipulator

    Science.gov (United States)

    Doggett, William R. (Inventor); Dorsey, John T. (Inventor); Ganoe, George G. (Inventor); King, Bruce D. (Inventor); Jones, Thomas C. (Inventor); Mercer, Charles D. (Inventor); Corbin, Cole K. (Inventor)

    2015-01-01

    A tension stiffened and tendon actuated manipulator is provided performing robotic-like movements when acquiring a payload. The manipulator design can be adapted for use in-space, lunar or other planetary installations as it is readily configurable for acquiring and precisely manipulating a payload in both a zero-g environment and in an environment with a gravity field. The manipulator includes a plurality of link arms, a hinge connecting adjacent link arms together to allow the adjacent link arms to rotate relative to each other and a cable actuation and tensioning system provided between adjacent link arms. The cable actuation and tensioning system includes a spreader arm and a plurality of driven and non-driven elements attached to the link arms and the spreader arm. At least one cable is routed around the driven and non-driven elements for actuating the hinge.

  1. White House: China not Manipulating Money

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

      The Bush administration determined that China was not manipulating its currency to gain economic advantages but still pressed Chinese to move more quickly to allowthe yuan's value to be set by market forces.……

  2. White House: China not Manipulating Money

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

    @@ The Bush administration determined that China was not manipulating its currency to gain economic advantages but still pressed Chinese to move more quickly to allowthe yuan's value to be set by market forces.

  3. The Frankfurt School's Theory of Manipulation

    Science.gov (United States)

    Petryszak, Nicholas

    1977-01-01

    Discusses the critical sociology of communication of the Frankfurt School suggesting that theorists such as Lowenthal, Adorno, and Habermas have outlined both the political economics of manipulation and the social psychological interaction between the audience and the media. (MH)

  4. The modelling of industrial robot manipulator vibration

    Energy Technology Data Exchange (ETDEWEB)

    Marcham, L.J.; Rao, B.K.N.; Noroozi, S.; Penson, R.P. [Southampton Inst. (United Kingdom). Systems Engineering Research Centre

    1996-11-01

    The work reported in this paper addresses the modelling of robot manipulator vibration, with the specific aim of producing a model suitable to be employed within an active compensation controller. An overview of existing work on the modelling of robot dynamics, both mathematically and empirically, is reported. A model of the dynamics of an industrial manipulator, inclusive of vibration, derived using Lagrangian mechanics is presented and further developed through the application of experimental modal analysis, by which the position dependent modal parameters of an industrial robot manipulator are determined. The model results are compared with experimental vibration data taken from the end-effector of a PUMA562C industrial manipulator using laser interferometry. Control of an end-effector located, active compensator for vibration suppression, based upon the derived model is discussed and recommendations which form the basis of further investigations, currently being undertaken, are presented.

  5. The Frankfurt School's Theory of Manipulation

    Science.gov (United States)

    Petryszak, Nicholas

    1977-01-01

    Discusses the critical sociology of communication of the Frankfurt School suggesting that theorists such as Lowenthal, Adorno, and Habermas have outlined both the political economics of manipulation and the social psychological interaction between the audience and the media. (MH)

  6. Trading networks, abnormal motifs and stock manipulation

    OpenAIRE

    2012-01-01

    We study trade-based manipulation of stock prices from the perspective of complex trading networks constructed by using detailed information of trades. A stock trading network consists of nodes and directed links, where every trader is a node and a link is formed from one trader to the other if the former sells shares to the latter. Specifically, three abnormal network motifs are investigated, which are found to be formed by a few traders, implying potential intention of price manipulation. W...

  7. Dynamics of 3-DOF Hybrid Robot Manipulator

    Institute of Scientific and Technical Information of China (English)

    周兵; 毛泰祥; 杨汝清

    2004-01-01

    This paper introduces a 3-dof hybrid robotic manipulator which is constructed by combming a parallel mechanism and a pantograph to increase stiffness as well as workspace. And by analyzing its kinematics and dynamics with Lagrange's method, the dynamic model is obtained which is essential for feed-forward control of the manipulator. An explicit solution is given out. Finally, a simulation test is carried out on computers.

  8. Identifying Image Manipulation Software from Image Features

    Science.gov (United States)

    2015-03-26

    an overview of the DCT based encoding process [5]. When an image is processed by lossless compression, a file’s size is reduced while still...IDENTIFYING IMAGE MANIPULATION SOFTWARE FROM IMAGE FEATURES THESIS Devlin T. Boyter, CPT, USA AFIT-ENG-MS-15-M-051 DEPARTMENT OF THE AIR FORCE AIR...to copyright protection in the United States. AFIT-ENG-MS-15-M-051 IDENTIFYING IMAGE MANIPULATION SOFTWARE FROM IMAGE FEATURES THESIS Presented to

  9. Osteopathic manipulative treatment for colonic inertia.

    Science.gov (United States)

    Cohen-Lewe, Adam

    2013-03-01

    Surgical treatment options for patients with colonic inertia are costly and do not always relieve the pain associated with the condition. The author describes a case of a 41-year-old woman with colonic inertia who received osteopathic manipulative treatment targeted at the neuromusculoskeletal and gastrointestinal systems. The patient reported temporary improvement in pain and bowel function without pharmacotherapy or surgical intervention. Osteopathic manipulative treatment should be considered in patients with visceral as well as neuromusculoskeletal symptoms.

  10. Autonomous Environment Recognition by Robotic Manipulators

    OpenAIRE

    Senda, Kei; Okano, Yuzo

    2001-01-01

    This paper discusses methods of autonomus environment recognition and action by a robotic manipulator working with dynamic interaction to the enviroment, e.g., assembling. A method automatically recognizes the contacting situation with the work site from the sensor outputs and the robotic manipulator motion. The autonomous recognition then discriminates the constraint conditions at manopulator hand using the self-organizing map that is a kind of unsupervisedlearning of neural networks. The di...

  11. Manipulating atoms using scanning probe microscopy

    OpenAIRE

    Norris, Andrew Christopher

    2009-01-01

    Manipulating species using Scanning Probe Microscopy (SPM) is an important discipline in the field of bottom-up fabrication, which facilitates nano-mechanics and electron dynamics investigations. Previous low temperature manipulation highlights include the construction of quantum dots, nano-wires and quantum corrals, all of which began in 1989 with Don Eigler’s iconic writing of I-B-M using 35 xenon atoms. Since then, the field has developed, and we now push, pull, hop, excite, desorb, rotate...

  12. Intelligent modular manipulation for mobile robots

    Science.gov (United States)

    Culbertson, John

    2008-04-01

    As mobile robots continue to gain acceptance across a variety of applications within the defense and civilian markets, the number of tasks that these robot platforms are expected to accomplish are expanding. Robot operators are asked to do more with the same platforms - from EOD missions to reconnaissance and inspection operations. Due to the fact that a majority of missions are dangerous in nature, it is critical that users are able to make remote adjustments to the systems to ensure that they are kept out of harm's way. An efficient way to expand the capabilities of existing robot platforms, improve the efficiency of robot missions, and to ultimately improve the operator's safety is to integrate JAUS-enabled Intelligent Modular Manipulation payloads. Intelligent Modular Manipulation payloads include both simple and dexterous manipulator arms with plug-and-play end-effector tools that can be changed based on the specific mission. End-effectors that can be swapped down-range provide an added benefit of decreased time-on-target. The intelligence in these systems comes from semi-autonomous mobile manipulation actions that enable the robot operator to perform manipulation task with the touch of a button on the OCU. RE2 is supporting Unmanned Systems Interoperability by utilizing the JAUS standard as the messaging protocol for all of its manipulation systems. Therefore, they can be easily adapted and integrated onto existing JAUS-enabled robot platforms.

  13. Control of two Wheeled Welding Mobile Manipulator

    Directory of Open Access Journals (Sweden)

    M. D. Ngo

    2008-11-01

    Full Text Available A three-linked manipulator mounted on a two-wheeled mobile platform is used to weld a long curved welding path. A welding torch mounted at the end of a manipulator of the welding mobile manipulator (WMM must be controlled for tracking a welding path with constant velocity and constant welding angle of torch. In this paper, a decentralized control method is applied to control the WMM considered as two separate subsystems such as a mobile platform and a manipulator. Two decentralized motion controllers are designed to control two subsystems of WMM, respectively. Firstly, based on a tracking error vector of the manipulator and a feedback motion of the mobile platform, a kinematic controller is designed for manipulator. Secondly, based on an another tracking error vector of the mobile platform and a feedback angular velocities of revolution joints of three-link, a sliding mode controller is designed for the mobile platform. These controllers are obtained based on the Lyapunov's function and its stability condition to ensure for the tracking error vectors to be asymptotically stable. Furthermore, simulation and experimental results are presented to illustrate the effectiveness of the proposed algorithm.

  14. Direct manipulation of virtual objects

    Science.gov (United States)

    Nguyen, Long K.

    Interacting with a Virtual Environment (VE) generally requires the user to correctly perceive the relative position and orientation of virtual objects. For applications requiring interaction in personal space, the user may also need to accurately judge the position of the virtual object relative to that of a real object, for example, a virtual button and the user's real hand. This is difficult since VEs generally only provide a subset of the cues experienced in the real world. Complicating matters further, VEs presented by currently available visual displays may be inaccurate or distorted due to technological limitations. Fundamental physiological and psychological aspects of vision as they pertain to the task of object manipulation were thoroughly reviewed. Other sensory modalities -- proprioception, haptics, and audition -- and their cross-interactions with each other and with vision are briefly discussed. Visual display technologies, the primary component of any VE, were canvassed and compared. Current applications and research were gathered and categorized by different VE types and object interaction techniques. While object interaction research abounds in the literature, pockets of research gaps remain. Direct, dexterous, manual interaction with virtual objects in Mixed Reality (MR), where the real, seen hand accurately and effectively interacts with virtual objects, has not yet been fully quantified. An experimental test bed was designed to provide the highest accuracy attainable for salient visual cues in personal space. Optical alignment and user calibration were carefully performed. The test bed accommodated the full continuum of VE types and sensory modalities for comprehensive comparison studies. Experimental designs included two sets, each measuring depth perception and object interaction. The first set addressed the extreme end points of the Reality-Virtuality (R-V) continuum -- Immersive Virtual Environment (IVE) and Reality Environment (RE). This

  15. Modelling and Performance Analysis of a Flexible Manipulator System Using Symbolic Manipulation

    OpenAIRE

    Z. Mohamed; Tokhi, M.O.

    2001-01-01

    This paper presents a symbolic manipulation approach for modelling and performance analysis of a flexible manipulator system using finite element methods. A constrained planar single-link flexible manipulator is considered. A symbolic algorithm characterising the dynamic behaviour of the system is developed using a symbolic language. Using this approach, the system transfer functions are obtained in symbolic forms. Analyses and investigations in terms of system stability, time response to an ...

  16. Confining continuous manipulations of accelerator beamline optics

    Energy Technology Data Exchange (ETDEWEB)

    Amstutz, P.; Lechner, C.; Plath, T. [Hamburg Univ. (Germany). Dept. of Physics; Ackermann, S.; Boedewadt, J.; Vogt, M. [Deutsches Elektronen-Synchrotron (DESY), Hamburg (Germany)

    2016-04-15

    Altering the optics in one section of a linear accelerator beamline will in general cause an alteration of the optics in all downstream sections. In circular accelerators, changing the optical properties of any beamline element will have an impact on the optical functions throughout the whole machine. In many cases, however, it is desirable to change the optics in a certain beamline section without disturbing any other parts of the machine. Such a local optics manipulation can be achieved by adjusting a number of additional corrector magnets that restore the initial optics after the manipulated section. In that case, the effect of the manipulation is confined in the region between the manipulated and the correcting beamline elements. Introducing a manipulation continuously, while the machine is operating, therefore requires continuous correction functions to be applied to the correcting quadrupole magnets. In this paper we present an analytic approach to calculate such continuous correction functions for six quadrupole magnets by means of a homotopy method. Besides a detailed derivation of the method, we present its application to an algebraic example, as well as its implementation at the seeding experiment sFLASH at the free-electron laser FLASH located at DESY in Hamburg.

  17. Distinguishing manipulated stocks via trading network analysis

    Science.gov (United States)

    Sun, Xiao-Qian; Cheng, Xue-Qi; Shen, Hua-Wei; Wang, Zhao-Yang

    2011-10-01

    Manipulation is an important issue for both developed and emerging stock markets. For the study of manipulation, it is critical to analyze investor behavior in the stock market. In this paper, an analysis of the full transaction records of over a hundred stocks in a one-year period is conducted. For each stock, a trading network is constructed to characterize the relations among its investors. In trading networks, nodes represent investors and a directed link connects a stock seller to a buyer with the total trade size as the weight of the link, and the node strength is the sum of all edge weights of a node. For all these trading networks, we find that the node degree and node strength both have tails following a power-law distribution. Compared with non-manipulated stocks, manipulated stocks have a high lower bound of the power-law tail, a high average degree of the trading network and a low correlation between the price return and the seller-buyer ratio. These findings may help us to detect manipulated stocks.

  18. Blade manipulators in turbulent channel flow

    Science.gov (United States)

    Vasudevan, B.; Prabhu, A.; Narasimha, R.

    1992-01-01

    We report here the results of a series of careful experiments in turbulent channel flow, using various configurations of blade manipulators suggested as optimal in earlier boundary layer studies. The mass flow in the channel could be held constant to better than 0.1%, and the uncertainties in pressure loss measurements were less than 0.1 mm of water; it was therefore possible to make accurate estimates of the global effects of blade manipulation of a kind that are difficult in boundary layer flows. The flow was fully developed at the station where the blades were mounted, and always relaxed to the same state sufficiently far downstream. It is found that, for a given mass flow, the pressure drop to any station downstream is always higher in the manipulated than in the unmanipulated flow, demonstrating that none of the blade manipulators tried reduces net duct losses. However the net increase in duct losses is less than the drag of the blade even in laminar flow, showing that there is a net reduction in the total skin friction drag experienced by the duct, but this relief is only about 20% of the manipulator drag at most.

  19. Managing collaboration in the nanoManipulator

    DEFF Research Database (Denmark)

    Hudson, Thomas C.; Helser, Aren T.; Sonnenwald, Diane H.;

    2004-01-01

    We designed, developed, deployed, and evaluated the Collaborative nanoManipulator (CnM), a distributed, collaborative virtual environment system supporting remote scientific collaboration between users of the nanoManipulator interface to atomic force microscopes. This paper describes the entire...... collaboration system, but focuses on the shared nanoManipulator (nM) application. To be readily accepted by users, the shared nM application had to have the same high level of interactivity as the single-user system and include all the functions of the single-user system. In addition the application had...... to support a user's ability to interleave working privately and working collaboratively. Based on our experience developing the CnM, we present: a method of analyzing applications to characterize the concurrency requirements for sharing data between collaborating sites, examples of data structures...

  20. Manipulation of microfluidic droplets by electrorheological fluid

    KAUST Repository

    Zhang, Menying

    2009-09-01

    Microfluidics, especially droplet microfluidics, attracts more and more researchers from diverse fields, because it requires fewer materials and less time, produces less waste and has the potential of highly integrated and computer-controlled reaction processes for chemistry and biology. Electrorheological fluid, especially giant electrorheological fluid (GERF), which is considered as a kind of smart material, has been applied to the microfluidic systems to achieve active and precise control of fluid by electrical signal. In this review article, we will introduce recent results of microfluidic droplet manipulation, GERF and some pertinent achievements by introducing GERF into microfluidic system: digital generation, manipulation of "smart droplets" and droplet manipulation by GERF. Once it is combined with real-time detection, integrated chip with multiple functions can be realized. © 2009 Wiley-VCH Verlag GmbH & Co. KGaA.

  1. Complexity in Climate Change Manipulation Experiments

    DEFF Research Database (Denmark)

    Kreyling, Juergen; Beier, Claus

    2014-01-01

    Climate change goes beyond gradual changes in mean conditions. It involves increased variability in climatic drivers and increased frequency and intensity of extreme events. Climate manipulation experiments are one major tool to explore the ecological impacts of climate change. Until now, precipi...... variability in temperature are ecologically important. Embracing complexity in future climate change experiments in general is therefore crucial.......Climate change goes beyond gradual changes in mean conditions. It involves increased variability in climatic drivers and increased frequency and intensity of extreme events. Climate manipulation experiments are one major tool to explore the ecological impacts of climate change. Until now......, precipitation experiments have dealt with temporal variability or extreme events, such as drought, resulting in a multitude of approaches and scenarios with limited comparability among studies. Temperature manipulations have mainly been focused only on warming, resulting in better comparability among studies...

  2. Topics in Semantics-based Program Manipulation

    DEFF Research Database (Denmark)

    Grobauer, Bernt

    Programming is at least as much about manipulating existing code as it is about writing new code. Existing code is modified, for example to make inefficient code run faster, or to accommodate for new features when reusing code; existing code is analyzed, for example to verify certain program...... properties, or to use the analysis information for code modifications. Semanticsbased program manipulation addresses methods for program modifications and program analyses that are formally defined and therefore can be verified with respect to the programming-language semantics. This dissertation comprises...... four articles in the field of semantics-based techniques for program manipulation: three articles are about partial evaluation, a method for program specialization; the fourth article treats an approach to automatic cost analysis. Partial evaluation optimizes programs by specializing them with respect...

  3. Manipulation of microfluidic droplets by electrorheological fluid.

    Science.gov (United States)

    Zhang, Menying; Gong, Xiuqing; Wen, Weijia

    2009-09-01

    Microfluidics, especially droplet microfluidics, attracts more and more researchers from diverse fields, because it requires fewer materials and less time, produces less waste and has the potential of highly integrated and computer-controlled reaction processes for chemistry and biology. Electrorheological fluid, especially giant electrorheological fluid (GERF), which is considered as a kind of smart material, has been applied to the microfluidic systems to achieve active and precise control of fluid by electrical signal. In this review article, we will introduce recent results of microfluidic droplet manipulation, GERF and some pertinent achievements by introducing GERF into microfluidic system: digital generation, manipulation of "smart droplets" and droplet manipulation by GERF. Once it is combined with real-time detection, integrated chip with multiple functions can be realized.

  4. Manipulating cyanobacteria: Spirulina for potential CELSS diet

    Science.gov (United States)

    Tadros, Mahasin G.; Smith, Woodrow; Mbuthia, Peter; Joseph, Beverly

    1989-01-01

    Spirulina sp. as a bioregenerative photosynthetic and an edible alga for spacecraft crew in a CELSS, was characterized for the biomass yield in batch cultures, under various environmental conditions. The partitioning of the assimalitory products (proteins, carbohydrates, lipids) were manipulated by varying the environmental growth conditions. Experiments with Spirulina have shown that under stress conditions (i.e., high light 160 uE/sq m/s, temperature 38 C, nitrogen or phosphate limitation; 0.1 M sodium chloride) carbohydrates increased at the expense of proteins. In other experiments, where the growth media were sufficient in nutrients and incubated under optimum growth conditions, the total of the algal could be manipulated by growth conditions. These results support the feasibility of considering Spirulina as a subsystem in CELSS because of the ease with which its nutrient content can be manipulated.

  5. Online Learning of Industrial Manipulators' Dynamics Models

    DEFF Research Database (Denmark)

    Polydoros, Athanasios

    2017-01-01

    The robotics industry has introduced light-weight compliant manipulators to increase the safety during human-robot interaction. This characteristic is achieved by replacing the stiff actuators of the traditional robots with compliant ones which creates challenges in the analytical derivation...... of the dynamics models. Those mainly derive from physics-based methods and thus they are based on physical properties which are hard to be calculated.  In this thesis, is presented, a novel online machine learning approach  which is able to model both inverse and forward dynamics models of industrial manipulators...

  6. On manipulator control by exact linearization

    Science.gov (United States)

    Kreutz, Kenneth

    1989-01-01

    Comments are given on the application to rigid-link manipulators of geometric control theory, resolved acceleration control, operational space control, and nonlinear decoupling theory, and the essential unity of these techniques for externally linearizing and decoupling end-effector dynamics is discussed. Exploiting the fact that the mass matrix of a rigid-link manipulator is positive definite, and the fact that there is an independent input for each degree of freedom, it is shown that a necessary and sufficient condition for a locally externally linearizing and output decoupling feedback law to exist is that the end effector Jacobian matrix be nonsingular.

  7. Reconfigurable metamaterials for terahertz wave manipulation

    Science.gov (United States)

    Hashemi, Mohammed R.; Cakmakyapan, Semih; Jarrahi, Mona

    2017-09-01

    Reconfigurable metamaterials have emerged as promising platforms for manipulating the spectral and spatial properties of terahertz waves without being limited by the characteristics of naturally existing materials. Here, we present a comprehensive overview of various types of reconfigurable metamaterials that are utilized to manipulate the intensity, phase, polarization, and propagation direction of terahertz waves. We discuss various reconfiguration mechanisms based on optical, electrical, thermal, and mechanical stimuli while using semiconductors, superconductors, phase-change materials, graphene, and electromechanical structures. The advantages and disadvantages of different reconfigurable metamaterial designs in terms of modulation efficiency, modulation bandwidth, modulation speed, and system complexity are discussed in detail.

  8. Dhyana-thumb-pus hing Manipulation

    Institute of Scientific and Technical Information of China (English)

    SHEN Guo-quan; CUI Xue-jun

    2003-01-01

    @@ The dhyana-thumb-pushing manipulation is the chief one inthe Dhyana Thumb Tuina School; it's also a characteristic manipulation and plays an important role in the TCM Tuina teaching and clinical treatment. The name came from Jingdechuanzhonglu() and was used in the Chan sect of Buddhism. According to the book, in Song Dynansty, Judi Buddhist Monk asked Tianlong Buddhist Monk for the dhyana. Tianlong erected a finger but said nothing, Judi deeply comprehended the dhyana. Later on, if someone asked him for the Buddhism doctrine, he did the same act. Before Judi died, he said: "I accepted a thumb Dhyana from Tianlong and benefited from it all my life."

  9. The Ethics/ Skills Interface in Image Manipulation

    Directory of Open Access Journals (Sweden)

    Jenny Webber

    2000-05-01

    Full Text Available Image manipulation using computer technology has become a basic skill required in various graphics dependent industries such as advertising, and the print and electronic media, and for specialist use in institutions for in-house and on-line publishing and the creation of Web pages. The 'seamless' alteration of photographs and other visual images made possible by computer technology has allowed misrepresentation with intent to deceive, and difficulty in establishing copyright of original images. The dilemma in teaching techniques of image manipulation is to create a basis for ethical practice HCI in this paper refers to the ethics/skills interface in the education and work of multimedia practitioners.

  10. Complementary Skyrmion Racetrack Memory With Voltage Manipulation

    Science.gov (United States)

    Kang, Wang; Zheng, Chentian; Huang, Yangqi; Zhang, Xichao; Zhou, Yan; Lv, Weifeng; Zhao, Weisheng

    2016-07-01

    Magnetic skyrmion holds promise as information carriers in the next-generation memory and logic devices, owing to the topological stability, small size and extremely low current needed to drive it. One of the most potential applications of skyrmion is to design racetrack memory (RM), named Sk-RM, instead of utilizing domain wall (DW). However, current studies face some key design challenges, e.g., skyrmion manipulation, data representation and synchronization etc. To address these challenges, we propose here a complementary Sk-RM structure with voltage manipulation. Functionality and performance of the proposed design are investigated with micromagnetic simulations.

  11. Textual Manipulation for SQL Injection Attacks

    Directory of Open Access Journals (Sweden)

    Hussein AlNabulsi

    2013-11-01

    Full Text Available SQL injection attacks try to use string or text manipulations to access illegally websites and their databases. This is since using some symbols or characters in SQL statements may trick the authentication system to incorrectly allow such SQL statements to be processed or executed. In this paper, we highlighted several examples of such text manipulations that can be successfully used in SQL injection attacks. We evaluated the usage of those strings on several websites and web pages using SNORT open source. We also conducted an extensive comparison study of some relevant papers.

  12. Flexible robotics applications to multiscale manipulations

    CERN Document Server

    Grossard , Mathieu; Regnier, Stephane

    2013-01-01

    The objective of this book is to provide those interested in the field of flexible robotics with an overview of several scientific and technological advances in the practical field of robotic manipulation. The different chapters examine various stages that involve a number of robotic devices, particularly those designed for manipulation tasks characterized by mechanical flexibility. Chapter 1 deals with the general context surrounding the design of functionally integrated microgripping systems. Chapter 2 focuses on the dual notations of modal commandability and observability, which play a sig

  13. Concurrent Manipulation of Expanded AVL Trees

    Institute of Scientific and Technical Information of China (English)

    章寅; 许卓群

    1998-01-01

    The concurrent manipulation of an expanded AVL tree(EAVL tree)s considered in this paper.The presented system can support any number of concurrent processes which perform searching,insertion and deletion on the tree.Simulation results indicate the high performance of the system.Elaborate techniques are used to achieve such a system unavailable based on any known algorithms.Methods developed in this paper may provide new insights into other problems in the area of concurrent search structure manipulation.

  14. Effects of Tools Inserted through Snake-like Surgical Manipulators

    OpenAIRE

    Murphy, Ryan J.; Otake, Yoshito; Wolfe, Kevin C.; TAYLOR, RUSSELL H.; Armand, Mehran

    2014-01-01

    Snake-like manipulators with a large, open lumen can offer improved treatment alternatives for minimally- and less-invasive surgeries. In these procedures, surgeons use the manipulator to introduce and control flexible tools in the surgical environment. This paper describes a predictive algorithm for estimating manipulator configuration given tip position for nonconstant curvature, cable-driven manipulators using energy minimization. During experimental bending of the manipulator with and wit...

  15. Is manipulative therapy more effective than sham manipulation in adults?: A systematic review and meta-analysis

    NARCIS (Netherlands)

    G.G.M. Scholten-Peeters (Gwendolijne); E.J. Thoomes (Erik); S. Konings (Sophie); M. Beijer (Michelle); K. Verkerk (Karin); B.W. Koes (Bart); A.P. Verhagen (Arianne)

    2013-01-01

    textabstractBackground: Manipulative therapy is widely used in the treatment of spinal disorders. Manipulative techniques are under debate because of the possibility of adverse events. To date, the efficacy of manipulations compared to sham manipulations is unclear. The purpose of the study is: to a

  16. Money, Manipulation and Misunderstanding on Manus Island

    DEFF Research Database (Denmark)

    Wallis, Joanne; Dalsgaard, Steffen

    2016-01-01

    Island, on domestic affairs in PNG, and on the relationship between PNG and Australia. Overall, it concludes that the costs arising from the money, manipulation and misunderstanding generated by the centre seem likely to outweigh the purported benefits, particularly for Manusians and other ordinary Papua...

  17. Microbial manipulation of host sex determination

    NARCIS (Netherlands)

    Beukeboom, Leo W.

    A recent study in the lepidopteran Ostrinia scapulalis shows that endosymbionts can actively manipulate the sex determination mechanism of their host. Wolbachia bacteria alter the sex-specific splicing of the doublesex master switch gene. In ZZ males of this female heterogametic system, the female

  18. Features of accounts manipulations in Croatia

    Directory of Open Access Journals (Sweden)

    Željana Aljinović Barać

    2006-12-01

    Full Text Available Investors and other users of financial statements seek for the information that is less likely to be affected by possibilities of financial number games. Accounts manipulations have become an issue of critical importance in today’s capital markets and have been subject of many researches in several countries. However, their featuresin Croatia are still quite unexplored.In this paper a survey was made with auditors about most frequent areas of accounts manipulations in Croatia. The questionnaire was sent to 274 auditors, but only 54 of them filled it out correctly and return it back. After that, obtained results were compared with archival data extracted from auditor reports published in abbreviateprospects of listing public companies. Prospects of 238 companies listing on the Zagreb Stock Exchange and Varaždin Stock Exchange were reviewed, but only 136 or 57.14% of them provided all data necessary for the analysis.The evidence shows that accounting manipulations are very common praxis in Croatia, especially in area of depreciation policy, write-off of accounts receivable, asset impairments and long-term investments in financial instruments. Beside above mentioned items, auditors pointed out taxes, inventories, revenues, provisions and revalorization as very frequent areas of accounts manipulations

  19. Topics in Semantics-based Program Manipulation

    DEFF Research Database (Denmark)

    Grobauer, Bernt

    Programming is at least as much about manipulating existing code as it is about writing new code. Existing code is modified, for example to make inefficient code run faster, or to accommodate for new features when reusing code; existing code is analyzed, for example to verify certain program prop...

  20. Constraint solving for direct manipulation of features

    NARCIS (Netherlands)

    Lourenco, D.; Oliveira, P.; Noort, A.; Bidarra, R.

    2006-01-01

    In current commercial feature modeling systems, support for direct manipulation of features is not commonly available. This is partly due to the strong reliance of such systems on constraints, but also to the lack of speed of current constraint solvers. In this paper, an approach to the optimization

  1. Interaction Force Estimation During Manipulation of Microparticles

    NARCIS (Netherlands)

    Khalil, I.S.M.; Metz, R.M.P.; Abelmann, L.; Misra, S.

    2012-01-01

    This work investigates the utilization of microparticles for the wireless sensing of interaction forces in magneticbased manipulation systems. The proposed force estimation approach allows for using microparticles in sensing the interaction forces at hard-to-reach regions to avoid the mechanical and

  2. Using Concrete Manipulatives in Mathematical Instruction

    Science.gov (United States)

    Jones, Julie P.; Tiller, Margaret

    2017-01-01

    Concrete, Representational, Abstract (CRA) instruction is a process for teaching and learning mathematical concepts. Starting with manipulation of concrete materials (counters, beans, Unifix cubes), the process moves students to the representational level (tallies, dots, stamps), and peaks at the abstract level, at which numbers and symbols are…

  3. Ideas on Manipulative Math for Young Children.

    Science.gov (United States)

    Murray, Anne

    2001-01-01

    Presents a case study of one kindergarten class in which the mathematics center is the popular area in the room. Focuses on how math is best understood if activities follow the five-C formula: collaborative, concrete, comprehensive, connecting, and cavorting. Describes how children used manipulatives to construct mathematics concepts…

  4. Nano Robotic Manipulation inside Electron Microscopes

    Science.gov (United States)

    Fukuda, Toshio; Nakajima, Masahiro; Liu, Pou

    We report nanomanipulation and nanoassembly through nanorobotic manipulation inside electron microscopes. A hybrid nanorobotic manipulation system, which is integrated with a nanorobotic manipulator inside a transmission electron microscope (TEM) and nanorobotic manipulators inside a scanning electron microscope (SEM), is used. The elasticity of a multi-walled CNT (MWNT) is measured inside a TEM. The telescoping MWNT is fabricated by peeling off outer layers through destructive fabrication process. The electrostatic actuation of telescoping MWNT is directly observed by a TEM. A cutting technique for CNTs assisted by the presence of oxygen gas is also presented. The cutting procedure was conducted in less than 1 minute using a low-energy electron beam inside a scanning electron microscope. A bending technique of a CNT assisted by the presence of oxygen gas is also applied for the 3-D fabrication of nanosturucture. We expect that these techniques will be applied for the rapid prototyping nanoassembly of various CNT nanodevices. For the nano-biological applications, environmental-SEM (E-SEM) nanomanipulation system is also presented with the direct observation of the hydroscopic samples with non-drying treatment.

  5. Mechanical Analysis of high precision manipulator

    Directory of Open Access Journals (Sweden)

    O.J. Elle

    1995-10-01

    Full Text Available It is of great importance that high precision manipulators are well designed from a mechanical point of view. A thorough analysis of all mechanical aspects concerning an accurate manipulator will make a good basis for further design. This paper presents a new approach to mechanical analysis of high-precision manipulators. A typical six axis anthropomorphic manipulator configuration is chosen as a model for the analysis. The paper is divided into two main parts; static deformation analysis and dynamic analysis. The static deformation analysis consists of three sub-parts; link deformation, joint deformation and total mechanical deformation. A simple fixed beam deformation model is used to simulate every link. Both specific gravity and a load attached at the end of the beam is considered. By varying material, outer dimensions and wall thickness it is possible to determine optimal values. Looking at the whole structure with an attacking force at the end, it is possible to select appropriate motor/transmission combinations. Each combination represents compliance and combined with the arm compliance the total deformation can be found. The result shows that deformation due to compliance in the joints represents 97

  6. Nanoresonator based dielectric surfaces for light manipulation

    NARCIS (Netherlands)

    Silvestri, F.; Pisano, E.; Gerini, G.; Lancellotti, V.; Galdi, V.

    2015-01-01

    In the last years, increasing interest has grown on the synthesis of light-weight, miniaturized surfaces for light manipulation based on metamaterials. These surfaces can be easily integrated in photonic systems and they can be used as high numerical aperture lenses, light-deflection surfaces and

  7. Opto-electrokinetic manipulation technique for highperformance

    Energy Technology Data Exchange (ETDEWEB)

    Kwon, Jae-Sung [Purdue University; Ravindranath, Sandeep [Purdue University; Kumar, Aloke [ORNL; Irudayaraj, Joseph [Purdue University; Wereley, Steven T. [Purdue University

    2012-01-01

    This communication first demonstrates bio-compatibility of a recently developed opto-electrokinetic manipulation technique, using microorganisms. Aggregation, patterning, translation, trapping and size-based separation of microorganisms performed with the technique firmly establishes its usefulness for development of a high-performance on-chip bioassay system.

  8. Impedance Control of a Redundant Parallel Manipulator

    DEFF Research Database (Denmark)

    Méndez, Juan de Dios Flores; Schiøler, Henrik; Madsen, Ole

    2017-01-01

    This paper presents the design of Impedance Control to a redundantly actuated Parallel Kinematic Manipulator. The proposed control is based on treating each limb as a single system and their connection through the internal interaction forces. The controller introduces a stiffness and damping matr...

  9. Is Computational Complexity a Barrier to Manipulation?

    CERN Document Server

    Walsh, Toby

    2010-01-01

    When agents are acting together, they may need a simple mechanism to decide on joint actions. One possibility is to have the agents express their preferences in the form of a ballot and use a voting rule to decide the winning action(s). Unfortunately, agents may try to manipulate such an election by misreporting their preferences. Fortunately, it has been shown that it is NP-hard to compute how to manipulate a number of different voting rules. However, NP-hardness only bounds the worst-case complexity. Recent theoretical results suggest that manipulation may often be easy in practice. To address this issue, I suggest studying empirically if computational complexity is in practice a barrier to manipulation. The basic tool used in my investigations is the identification of computational "phase transitions". Such an approach has been fruitful in identifying hard instances of propositional satisfiability and other NP-hard problems. I show that phase transition behaviour gives insight into the hardness of manipula...

  10. Automatic camera tracking for remote manipulators

    Energy Technology Data Exchange (ETDEWEB)

    Stoughton, R.S.; Martin, H.L.; Bentz, R.R.

    1984-04-01

    The problem of automatic camera tracking of mobile objects is addressed with specific reference to remote manipulators and using either fixed or mobile cameras. The technique uses a kinematic approach employing 4 x 4 coordinate transformation matrices to solve for the needed camera PAN and TILT angles. No vision feedback systems are used, as the required input data are obtained entirely from position sensors from the manipulator and the camera-positioning system. All hardware requirements are generally satisfied by currently available remote manipulator systems with a supervisory computer. The system discussed here implements linear plus on/off (bang-bang) closed-loop control with a +-2/sup 0/ deadband. The deadband area is desirable to avoid operator seasickness caused by continuous camera movement. Programming considerations for camera control, including operator interface options, are discussed. The example problem presented is based on an actual implementation using a PDP 11/34 computer, a TeleOperator Systems SM-229 manipulator, and an Oak Ridge National Laboratory (ORNL) camera-positioning system. 3 references, 6 figures, 2 tables.

  11. Dynamic nonprehensile manipulation: Controllability, planning, and experiments

    Energy Technology Data Exchange (ETDEWEB)

    Lynch, K.M. [Northwestern Univ., Evanston, IL (United States). Dept. of Mechanical Engineering; Mason, M.T. [Carnegie Mellon Univ., Pittsburgh, PA (United States). Robotics Inst.

    1999-01-01

    The authors are interested in using low-degree-of-freedom robots to perform complex tasks by nonprehensile manipulation (manipulation without a form- or force-closure grasp). By not grasping, the robot can use gravitational, centrifugal, and Coriolis forces as virtual motors to control more degrees of freedom of the part. The part`s extra motion freedoms are exhibited as rolling, slipping, and free flight. This paper describes controllability, motion planning, and implementation of planar dynamic nonprehensile manipulation. The authors show that almost any planar object is controllable by point contact, and the controlling robot requires only two degrees of freedom (a point translating in the plane). They then focus on a one-joint manipulator (with a two-dimensional state space), and show that even this simplest of robots, by using slipping and rolling, can control a planar object to a full-dimensional subset of its six-0dimensional state space. The authors have developed a one-joint robot to perform a variety of dynamic tasks, including snatching an object from a table, rolling an object on the surface of the arm, and throwing and catching. Nonlinear optimization is used to plan robot trajectories that achieve the desired object motion via coupling forces through the nonprehensile contact.

  12. Microbial manipulation of host sex determination

    NARCIS (Netherlands)

    Beukeboom, Leo W.

    2012-01-01

    A recent study in the lepidopteran Ostrinia scapulalis shows that endosymbionts can actively manipulate the sex determination mechanism of their host. Wolbachia bacteria alter the sex-specific splicing of the doublesex master switch gene. In ZZ males of this female heterogametic system, the female i

  13. Multimodal Electrothermal Silicon Microgrippers for Nanotube Manipulation

    DEFF Research Database (Denmark)

    Nordström Andersen, Karin; Petersen, Dirch Hjorth; Carlson, Kenneth

    2009-01-01

    Microgrippers that are able to manipulate nanoobjects reproducibly are key components in 3-D nanomanipulation systems. We present here a monolithic electrothermal microgripper prepared by silicon microfabrication, and demonstrate pick-and-place of an as-grown carbon nanotube from a 2-D array onto...

  14. Redefining trade-based market manipulation

    NARCIS (Netherlands)

    Nelemans, Matthijs

    2008-01-01

    Trade-based market manipulation, which is usually described as trading shares to initiate a price change or to cause an artificial price, has received wide attention in policy and academic discussions, although the behavior is still poorly defined in both legal and economic literature. This Article

  15. End-Point Control of Flexible Manipulators.

    Science.gov (United States)

    1986-09-01

    to develop a universal robot end effector, capable of performing generic manipulation functions. This research focuses on the following advances toward...Tncrease the speed and precision of performing "slew arid touch" tasks by a flexible robot arri and second, to develop a universal robot end effector

  16. Nonholonomic Motion Planning Strategy for Underactuated Manipulator

    Directory of Open Access Journals (Sweden)

    Liang Li

    2014-01-01

    Full Text Available This paper develops nonholonomic motion planning strategy for three-joint underactuated manipulator, which uses only two actuators and can be converted into chained form. Since the manipulator was designed focusing on the control simplicity, there are several issues for motion planning, mainly including transformation singularity, path estimation, and trajectory robustness in the presence of initial errors, which need to be considered. Although many existing motion planning control laws for chained form system can be directly applied to the manipulator and steer it to desired configuration, coordinate transformation singularities often happen. We propose two mathematical techniques to avoid the transformation singularities. Then, two evaluation indicators are defined and used to estimate control precision and linear approximation capability. In the end, the initial error sensitivity matrix is introduced to describe the interference sensitivity, which is called robustness. The simulation and experimental results show that an efficient and robust resultant path of three-joint underactuated manipulator can be successfully obtained by use of the motion planning strategy we presented.

  17. A spatial impedance controller for robotic manipulation

    NARCIS (Netherlands)

    Fasse, Ernest D.; Broenink, Jan F.

    1997-01-01

    Mechanical impedance is the dynamic generalization of stiffness, and determines interactive behavior by definition. Although the argument for explicitly controlling impedance is strong, impedance control has had only a modest impact on robotic manipulator control practice. This is due in part to the

  18. Text Manipulation Judgment Accuracy: An Exploratory Study

    Science.gov (United States)

    2003-03-25

    reduce, or divert attention from information. Eckman (1985) argues that concealments alone may be used to deceive; however, it is often the case...this study focuses on distortion of existing information, and in agreement with Eckman , some original portions of the information were replaced or...13 Information Manipulation Theory The English language philosopher Paul Grice (1975) proposes that in ordinary conversation, speakers and

  19. Motion planning for gantry mounted manipulators

    DEFF Research Database (Denmark)

    Olsen, Anders Lau; Petersen, Henrik Gordon

    2007-01-01

    We present a roadmap based planner for finding robot motions for gantry mounted manipulators for a line welding application at Odense Steel Shipyard (OSS). The robot motions are planned subject to constraints on when the gantry may be moved. We show that random sampling of gantry configurations...

  20. Manipulation of molecular structures with magnetic fields

    NARCIS (Netherlands)

    Boamfa, M.I.

    2003-01-01

    The present thesis deals with the use of magnetic fields as a handle to manipulate matter at a molecular level and as a tool to probe molecular properties or inter molecular interactions. The work consists of in situ optical studies of (polymer) liquid crystals and molecular aggregates in high magne

  1. Manipulation of enteric flora in ulcerative colitis

    Institute of Scientific and Technical Information of China (English)

    Mario Guslandi

    2005-01-01

    @@ TO THE EDITOR Reviewing the available therapeutic options in the medical treatment of ulcerative colitis, Xu et al.[1], have omitted to mention an important aspect in the pharmacological management of the disease, namely the possibility to promote clinical and endoscopic improvement by manipulating the enteric flora.

  2. Identity and incentives: impact on accounting manipulation

    NARCIS (Netherlands)

    Abernethy, M.A.; Bouwens, J.; Kroos, P.

    2012-01-01

    This study examines how individual characteristics of managers influence the incidence of accounting manipulation. We examine one particular characteristic argued to reduce agency costs, namely the extent to which an individual identifies with the firm (OI). Drawing on a database collected from fina

  3. Flexible manipulator control experiments and analysis

    Science.gov (United States)

    Yurkovich, S.; Ozguner, U.; Tzes, A.; Kotnik, P. T.

    1987-01-01

    Modeling and control design for flexible manipulators, both from an experimental and analytical viewpoint, are described. From the application perspective, an ongoing effort within the laboratory environment at the Ohio State University, where experimentation on a single link flexible arm is underway is described. Several unique features of this study are described here. First, the manipulator arm is slewed by a direct drive dc motor and has a rigid counterbalance appendage. Current experimentation is from two viewpoints: (1) rigid body slewing and vibration control via actuation with the hub motor, and (2) vibration suppression through the use of structure-mounted proof-mass actuation at the tip. Such an application to manipulator control is of interest particularly in design of space-based telerobotic control systems, but has received little attention to date. From an analytical viewpoint, parameter estimation techniques within the closed-loop for self-tuning adaptive control approaches are discussed. Also introduced is a control approach based on output feedback and frequency weighting to counteract effects of spillover in reduced-order model design. A model of the flexible manipulator based on experimental measurements is evaluated for such estimation and control approaches.

  4. Redefining trade-based market manipulation

    NARCIS (Netherlands)

    Nelemans, Matthijs

    2008-01-01

    Trade-based market manipulation, which is usually described as trading shares to initiate a price change or to cause an artificial price, has received wide attention in policy and academic discussions, although the behavior is still poorly defined in both legal and economic literature. This Article

  5. Perception and manipulation of game control

    NARCIS (Netherlands)

    Plass - Oude Bos, D.; van de Laar, B.L.A.; Reuderink, B.; Poel, Mannes; Nijholt, Antinus; Reidsma, Dennis; Choi, Insook; Bargar, Robin

    Brain-computer interfaces do not provide perfect recognition of user input, for similar reasons as natural input modalities. How well can users assess the amount of control they have, and how much control do they need? We describe an experiment where we manipulated the control users had in a

  6. Interaction Force Estimation During Manipulation of Microparticles

    NARCIS (Netherlands)

    Khalil, I.S.M.; Metz, R.M.P.; Abelmann, Leon; Misra, Sarthak

    2012-01-01

    This work investigates the utilization of microparticles for the wireless sensing of interaction forces in magneticbased manipulation systems. The proposed force estimation approach allows for using microparticles in sensing the interaction forces at hard-to-reach regions to avoid the mechanical and

  7. HUMAN NATURE: BETWEEN PERSUASION AND MANIPULATION

    Directory of Open Access Journals (Sweden)

    CRISTINA LUCIA ȘUTIU

    2014-11-01

    Full Text Available Each word is an attempt to influence other persons, as Alex Mucchielli said. Communication, by using words, is a characteristic of human beings, and it plays an important role in everyday life. Communication can be seen as an attempt to share information through a process of symbolic interaction between human beings. It is an essential life process through which humans create, transmit and utilize information by words. Putting words in act, we can express feelings, we can share opinions and we can obtain whatever we want, finally. It is essential to take into account certain ethical rules whenever we start a communication process. As the main purpose of communication is to convince people, this goal can be achieved only by using persuasion and/or manipulation. The last century is a sort of witness as regards the use of words in order to persuade people to adhere to certain ideological precepts and to determine them to act in a certain desirable way by the initiators of the communication process. Practically, there is a fine line between persuasion and manipulation; and in this situation, it is hard for ordinary people to distinguish between them. Manipulation appears like a persuasive process and it hides its true aims. This is the only way by which it can operate and for that it is considered immoral and invasive in the mind and soul of people. Human beings are now in the position to look for a way to protect themselves against such an invasive act and to find a way to distinguish between correct and false information. What can we do? In this study we analyze persuasion and manipulation from an ethical point of view and we search for paths to protect ourselves from the manipulative techniques.

  8. The evolution of teleoperated manipulators at ORNL

    Energy Technology Data Exchange (ETDEWEB)

    Kress, R.L.; Jansen, J.F.; Noakes, M.W.; Herndon, J.N.

    1996-12-31

    ORNL has made significant contributions to teleoperator and telerobotics technology for two decades and continues with an aggressive program today. Examples of past projects are: (1) the M2 servomanipulator, which was the first digitally controlled teleoperator; (2) the Advanced Servomanipulator (ASM), which was the first remotely maintainable teleoperator; (3) the CESARm/Kraft dissimilar teleoperated system; and (4) the Laboratory Telerobotic Manipulator (LTM), a 7-Degree-of-Freedom (7-DOF) telerobot built as a prototype for work in space. More recently, ORNL has become heavily involved with Environmental Restoration and Waste Management (ERWM) robotics programs funded by the Department of Energy (DOE). The ERWM program requires high payloads and high dexterity. As a result, a hydraulically actuated, dual-arm system comprised of two 6-DOF arms mounted on a 5-DOF base has been constructed and is being used today for various research tasks and for decontamination and dismantlement activities. All of these teleoperated manipulator systems build upon the experiences gained throughout the almost two decades of development. Each system incorporates not only the latest technology in computers, sensors, and electronics, but each new . system also adds at least one new feature to the technologies already developed and demonstrated in the previous system(s). As a result of this process, a serious study of these manipulator systems is a study in the evolution of teleoperated manipulator the systems in general. This provides insight not only into the research and development paths chosen in the past, but also into the appropriate directions for future teleoperator and telerobotics research. This paper examines each of the teleoperated/telerobotic systems developed at ORNL, summarizes their features and capabilities, examines the state of the most current telerobotic system (the Dual Arm Work Module), PM provides direction for a Next Generation Telerobotic Manipulator system.

  9. Intelligent Control of a Novel Hydraulic Forging Manipulator

    Directory of Open Access Journals (Sweden)

    J. Wang

    2011-01-01

    Full Text Available The increased demand for large-size forgings has led to developments and innovations of heavy-duty forging manipulators. Besides the huge carrying capacity, some robot features such as force perception, delicacy and flexibility, forging manipulators should also possess. The aim of the work is to develop a heavy-duty forging manipulator with robot features by means of combination of methods in mechanical, hydraulic, and control field. In this paper, through kinematic analysis of a novel forging manipulator, control strategy of the manipulator is proposed considering the function and motion of forging manipulators. Hybrid pressure/position control of hydraulic actuators in forging manipulator is realized. The feasibility of the control method has been verified by the experiments on a real prototype of the novel hydraulic forging manipulator in our institute. The intelligent control of the forging manipulator is performed with programmable logic controller which is suitable for industrial applications.

  10. Digital Microfluidics with Bubble Manipulations by Dielectrophoresis

    Directory of Open Access Journals (Sweden)

    Shih-Kang Fan

    2012-03-01

    Full Text Available This paper presents basic bubble manipulations, including transporting, splitting, and merging, by dielectrophoresis (DEP in an oil environment. In our presented method, bubbles are placed between parallel plates in an oil medium of a low vapor pressure, which eliminates the possibility of changing the gaseous composition of the bubble caused by evaporation of the medium. DEP has been previously investigated to actuate dielectric droplets and is adopted here to drive the oil environment as well as the immersed bubbles between parallel plates. In our experiment, air bubbles of 0.3 ml were successfully transported in a 20 cSt silicone oil medium between a 75 mm-high parallel plate gap. In addition, 0.6 ml air bubbles were successfully split into two 0.3 ml air bubbles, and then merged again by DEP. These successful manipulations make digital gaseous lab-on-a-chip a reality.

  11. Analyzing Array Manipulating Programs by Program Transformation

    Science.gov (United States)

    Cornish, J. Robert M.; Gange, Graeme; Navas, Jorge A.; Schachte, Peter; Sondergaard, Harald; Stuckey, Peter J.

    2014-01-01

    We explore a transformational approach to the problem of verifying simple array-manipulating programs. Traditionally, verification of such programs requires intricate analysis machinery to reason with universally quantified statements about symbolic array segments, such as "every data item stored in the segment A[i] to A[j] is equal to the corresponding item stored in the segment B[i] to B[j]." We define a simple abstract machine which allows for set-valued variables and we show how to translate programs with array operations to array-free code for this machine. For the purpose of program analysis, the translated program remains faithful to the semantics of array manipulation. Based on our implementation in LLVM, we evaluate the approach with respect to its ability to extract useful invariants and the cost in terms of code size.

  12. Microtechnology for cell manipulation and sorting

    CERN Document Server

    Tseng, Peter; Carlo, Dino

    2017-01-01

    This book delves into the recent developments in the microscale and microfluidic technologies that allow manipulation at the single and cell aggregate level. Expert authors review the dominant mechanisms that manipulate and sort biological structures, making this a state-of-the-art overview of conventional cell sorting techniques, the principles of microfluidics, and of microfluidic devices. All chapters highlight the benefits and drawbacks of each technique they discuss, which include magnetic, electrical, optical, acoustic, gravity/sedimentation, inertial, deformability, and aqueous two-phase systems as the dominant mechanisms utilized by microfluidic devices to handle biological samples. Each chapter explains the physics of the mechanism at work, and reviews common geometries and devices to help readers decide the type of style of device required for various applications. This book is appropriate for graduate-level biomedical engineering and analytical chemistry students, as well as engineers and scientist...

  13. Repetitive control of electrically driven robot manipulators

    Science.gov (United States)

    Fateh, Mohammad Mehdi; Ahsani Tehrani, Hojjat; Karbassi, Seyed Mehdi

    2013-04-01

    This article presents a novel robust discrete repetitive control of electrically driven robot manipulators for tracking of a periodic trajectory. We propose a novel model, which presents the highly non-linear dynamics of robot manipulator in the form of linear discrete-time time-varying system. Based on the proposed model, we develop a two-term control law. The first term is an ordinary time-optimal and minimum-norm (TOMN) control by employing parametric controllers to guarantee stability. The second term is a novel robust control to improve the control performance in the face of uncertainties. The robust control estimates and compensates uncertainties including the parametric uncertainty, unmodelled dynamics and external disturbances. Performance of the proposed method is compared with two discrete methods, namely the TOMN control and an adaptive iterative learning (AIL) control. Simulation results confirm superiority of the proposed method in terms of the convergence speed and precision.

  14. Partner manipulation stabilises a horizontally transmitted mutualism.

    Science.gov (United States)

    Heil, Martin; Barajas-Barron, Alejandro; Orona-Tamayo, Domancar; Wielsch, Natalie; Svatos, Ales

    2014-02-01

    Mutualisms require protection from non-reciprocating exploiters. Pseudomyrmex workers that engage in an obligate defensive mutualism with Acacia hosts feed exclusively on the sucrose-free extrafloral nectar (EFN) that is secreted by their hosts, a behaviour linking ant energy supply directly to host performance and thus favouring reciprocating behaviour. We tested the hypothesis that Acacia hosts manipulate this digestive specialisation of their ant mutualists. Invertase (sucrose hydrolytic) activity in the ant midguts was inhibited by chitinase, a dominant EFN protein. The inhibition occurred quickly in cell-free gut liquids and in native gels and thus likely results from an enzyme-enzyme interaction. Once a freshly eclosed worker ingests EFN as the first diet available, her invertase becomes inhibited and she, thus, continues feeding on host-derived EFN. Partner manipulation acts at the phenotypic level and means that one partner actively controls the phenotype of the other partner to enhance its dependency on host-derived rewards.

  15. Treating patellar tendinopathy with Fascial Manipulation.

    Science.gov (United States)

    Pedrelli, Alessandro; Stecco, Carla; Day, Julie Ann

    2009-01-01

    According to Fascial Manipulation theory, patellar tendon pain is often due to uncoordinated quadriceps contraction caused by anomalous fascial tension in the thigh. Therefore, the focus of treatment is not the patellar tendon itself, but involves localizing the cause of this incoordination, considered to be within the muscular fascia of the thigh region. Eighteen patients suffering from patellar tendon pain were treated with the Fascial Manipulation technique. Pain was assessed (in VAS) before (VAS 67.8/100) and after (VAS 26.5/100) treatment, plus a follow-up evaluation at 1 month (VAS 17.2/100). Results showed a substantial decrease in pain immediately after treatment (p<0.0001) and remained unchanged or improved in the short term. The results show that the patellar tendon may be only the zone of perceived pain and that interesting results can be obtained by treating the muscular fascia of the quadriceps muscle, whose alteration may cause motor incoordination and subsequent pathology.

  16. Beam Techniques - Beam Control and Manipulation

    Energy Technology Data Exchange (ETDEWEB)

    Minty, Michiko G

    2003-04-24

    We describe commonly used strategies for the control of charged particle beams and the manipulation of their properties. Emphasis is placed on relativistic beams in linear accelerators and storage rings. After a brief review of linear optics, we discuss basic and advanced beam control techniques, such as transverse and longitudinal lattice diagnostics, matching, orbit correction and steering, beam-based alignment, and linac emittance preservation. A variety of methods for the manipulation of particle beam properties are also presented, for instance, bunch length and energy compression, bunch rotation, changes to the damping partition number, and beam collimation. The different procedures are illustrated by examples from various accelerators. Special topics include injection and extraction methods, beam cooling, spin transport and polarization.

  17. Resolution of dacryostenosis after osteopathic manipulative treatment.

    Science.gov (United States)

    Apoznanski, Theresa E; Abu-Sbaih, Reem; Terzella, Michael J; Yao, Sheldon

    2015-02-01

    Dacryostenosis is an obstruction of the nasolacrimal duct and is the most common cause of epiphora and ocular discharge in newborns. Whereas most cases resolve spontaneously, invasive treatment may become necessary if symptoms persist past age 6 to 12 months. In the present case, a 9-month-old boy with persistent dacryostenosis was scheduled for lacrimal duct probing after first-line treatments failed. After a single session of osteopathic manipulative treatment, the patient's epiphora and other symptoms resolved, and he no longer needed surgical probing. A review of the literature highlights key pathophysiologic processes, management options, and musculoskeletal aspects of dacryostenosis. Physicians should consider osteopathic manipulative treatment in the management of dacryostenosis.

  18. Bone manipulation procedures in dental implants.

    Science.gov (United States)

    Mittal, Yuvika; Jindal, Govind; Garg, Sandeep

    2016-01-01

    The use of dental implants for the rehabilitation of missing teeth has broadened the treatment options for patients and clinicians equally. As a result of advances in research in implant design, materials, and techniques, the use of dental implants has increased dramatically in the past two decades and is expected to expand further in the future. Success of dental implants depends largely on the quality and quantity of the available bone in the recipient site. This however may be compromised or unavailable due to tumor, trauma, periodontal disease, etc., which in turn necessitates the need for additional bone manipulation. This review outlines the various bone manipulation techniques that are used to achieve a predictable long-term success of dental implants.

  19. Extended SQL for manipulating clinical warehouse data.

    Science.gov (United States)

    Johnson, S B; Chatziantoniou, D

    1999-01-01

    Health care institutions are beginning to collect large amounts of clinical data through patient care applications. Clinical data warehouses make these data available for complex analysis across patient records, benefiting administrative reporting, patient care and clinical research. Data gathered for patient care purposes are difficult to manipulate for analytic tasks; the schema presents conceptual difficulties for the analyst, and many queries perform poorly. An extension to SQL is presented that enables the analyst to designate groups of rows. These groups can then be manipulated and aggregated in various ways to solve a number of useful analytic problems. The extended SQL is concise and runs in linear time, while standard SQL requires multiple statements with polynomial performance. The extensions are extremely powerful for performing aggregations on large amounts of data, which is useful in clinical data mining applications.

  20. OPTIMAL TRAJECTORY PLANNING OF MANIPULATORS: A REVIEW

    Directory of Open Access Journals (Sweden)

    ATEF A. ATA

    2007-04-01

    Full Text Available Optimal motion planning is very important to the operation of robot manipulators. Its main target is the generation of a trajectory from start to goal that satisfies objectives, such as minimizing path traveling distance or time interval, lowest energy consumption or obstacle avoidance and satisfying the robot’s kinematics and dynamics. Review, discussion and analysis of optimization techniques to find the optimal trajectory either in Cartesian space or joint space are presented and investigated. Optimal trajectory selection approaches such as kinematics and dynamics techniques with various constraints are presented and explained. Although the kinematics approach is simple and straight forward, it will experience some problems in implementation because of lack of Inertia and torque constraints. The application of Genetic Algorithms to find the optimal trajectory of manipulators especially in the obstacle avoidance is also highlighted. Combining the Genetic Algorithms with other classical optimization methods proves to have better performance as a hybrid optimization technique.

  1. Manipulation of inclusions with optical tweezers

    Science.gov (United States)

    Škarabot, Miha

    In this chapter the basic techniques and underlaying concepts of trapping and manipulation of microparticles in liquid crystal (LC) systems are presented. The laser trapping in LCs is extremely efficient and it is based on different principles than laser trapping in isotropic solvents. In addition to conventional laser trapping, the laser light can reorient LC molecules and at high powers also heat the LC in isotropic phase. Due to these optical and thermal effects of laser tweezers on LC different trapping mechanisms are possible at different rate of laser power and all are presented qualitatively and quantitatively by measuring the trapping forces. Besides trapping and manipulation of single inclusions, laser tweezers are also used for assisted self-assembly of variety of periodic 2D and 3D colloidal structures, while most of them can not be assembled without help of laser tweezers. The concepts and different techniques of laser assisted assembly are presented.

  2. Manipulator Controlled since a Smartphone by Bluetooth

    Science.gov (United States)

    Sánchez-Niño, F.; Rodríguez Pedroza, G.; Castillo Baldivia, E. G.

    2015-01-01

    We present the design of transmitter interface of data between a microcontroller and Smartphone to control a robot. We used a Bluetooth module to send the commands to control the moving of the manipulator. The system is formed by three parts: the first part, the program made in Android. It is run on the Smartphone that controls the position of the robot. The second part is the reception board based in the PIC18F4550 that energizes the joints of the manipulator. The last part is the driver. It use an integrated circuit L293D that is configured in two full bridges H. This system is a good tool for learning of programing, sensors, actuators, robotic, electronic and design electronic.

  3. Optical Manipulation with Speckle Light Fields

    CERN Document Server

    Volpe, Giorgio; Gigan, Sylvain

    2014-01-01

    Optical tweezers have been widely applied to trap and manipulate micro- and nano-objects, such as cells, organelles and macromolecules. Generating well-controlled optical forces usually requires a highly focused laser beam, which means a careful engineering of the setups and the samples. Although similar conditions are routinely met in research laboratories, optical imperfections or scattering limit the applicability of this technique to real-life situations, such as in biomedical or microfluidic applications. Nonetheless, scattering of coherent light by disordered structures gives rise to speckles, random diffraction patterns with well-defined statistical properties. Here, we demonstrate how speckle fields can become a versatile tool to perform fundamental optical manipulation tasks such as trapping, guiding and sorting, exploiting the emergence of anomalous diffusion and drift in time-varying speckles. The simplicity and high-throughput of this technique greatly broadens the perspectives of optical manipula...

  4. Dynamical pixel manipulation of metasurfaces (Conference Presentation)

    Science.gov (United States)

    Zhong, Jin-Qian

    2017-05-01

    Two-dimensional (2D) metamaterials or known as metasurfaces have attracted researchers' attention due to their capability to manipulate the amplitudes, phases and polarization states of incident electromagnetic waves by conferring extra phase different phase at different positions through a super cell that is composed of different oriented structures. In other words, metasurfaces can achieve beam steering and wave shaping by imparting local, gradient phase shift to the incoming waves. With these abilities, metasurfaces can be applied to applications such as ultrathin invisibility cloaks, metasurface holograms, planar lenses and a vortex generator. With the above mentioned advantages and applications of metasurfaces, yet, all the demonstrated metasurfaces possess a main insufficiency that once the metasurfaces are designed and fabricated, their optical properties are then fixed without any chance for further manipulation, which limits their versatility in practical applications. Moreover, although some researchers employed dynamically changeable materials to achieve an active metasurface, such manipulation can only change the overall performance such as an operating frequency instead of changing the provided phase on each pixel of a metasurface. To solve this issue, we employ liquid crystal integrated with a metasurface and the combination could be thus be dynamically tuned via electric bias on each pixel of liquid crystals. Through this setup, we can alter the polarization state of the incident electromagnetic wave dynamically and thus manipulate the extra phase provided by each pixel. In this combination, liquid crystal is employed to change the incident polarization from 0 to 360-degree and the metasurface is designed to achieve four different output signals including phase modulated linear- and circular-polarized light and amplitude-modulated linear- and circular-polarized light. Meanwhile, the metasurfaces could also control the transmission efficiency of the

  5. IMp: The customizable LEGO® Pinned Insect Manipulator

    Directory of Open Access Journals (Sweden)

    Steen Dupont

    2015-02-01

    Full Text Available We present a pinned insect manipulator (IMp constructed of LEGO® building bricks with two axes of movement and two axes of rotation. In addition we present three variants of the IMp to emphasise the modular design, which facilitates resizing to meet the full range of pinned insect specimens, is fully customizable, collapsible, affordable and does not require specialist tools or knowledge to assemble.

  6. Magnus force effect in optical manipulation

    Science.gov (United States)

    Cipparrone, Gabriella; Hernandez, Raul Josue; Pagliusi, Pasquale; Provenzano, Clementina

    2011-07-01

    The effect of the Magnus force in optical micromanipulation has been observed. An ad hoc experiment has been designed based on a one-dimensional optical trap that carries angular momentum. The observed particle dynamics reveals the occurrence of this hydrodynamic force, which is neglected in the common approach. Its measured value is larger than the one predicted by the existing theoretical models for micrometric particles and low Reynolds number, showing that the Magnus force can contribute to unconventional optohydrodynamic trapping and manipulation.

  7. Nucleotide Manipulatives to Illustrate the Central Dogma

    Directory of Open Access Journals (Sweden)

    Sonja B. Yung

    2015-08-01

    Full Text Available The central dogma is a core concept that is critical for introductory biology and microbiology students to master. However, students often struggle to conceptualize the processes involved, and fail to move beyond simply memorizing the basic facts. To encourage critical thinking, we have designed a set of magnetic nucleotide manipulatives that allow students to model DNA structure, along with the processes of replication, transcription, and translation.

  8. Biological cell manipulation by magnetic nanoparticles

    Directory of Open Access Journals (Sweden)

    Frederick Gertz

    2016-02-01

    Full Text Available We report a manipulation of biological cells (erythrocytes by magnetite (Fe3O4 nanoparticles in the presence of a magnetic field. The experiment was accomplished on the top of a micro-electromagnet consisting of two magnetic field generating contours. An electric current flowing through the contour(s produces a non-uniform magnetic field, which is about 1.4 mT/μm in strength at 100 mA current in the vicinity of the current-carrying wire. In responses to the magnetic field, magnetic nanoparticles move towards the systems energy minima. In turn, magnetic nanoparticles drag biological cells in the same direction. We present experimental data showing cell manipulation through the control of electric current. This technique allows us to capture and move cells located in the vicinity (10-20 microns of the current-carrying wires. One of the most interesting results shows a periodic motion of erythrocytes between the two conducting contours, whose frequency is controlled by an electric circuit. The obtained results demonstrate the feasibility of non-destructive cell manipulation by magnetic nanoparticles with micrometer-scale precision.

  9. Manipulation and imaging of Kryptolebias marmoratus embryos.

    Science.gov (United States)

    Mourabit, Sulayman; Kudoh, Tetsuhiro

    2012-12-01

    The self-fertilizing mangrove killifish, Kryptolebias marmoratus, is an upcoming model species for a range of biological disciplines. To further establish this model in the field of developmental biology, we examined several techniques for embryonic manipulation and for imaging that can be used in an array of experimental designs. These methodological approaches can be divided into two categories: handling of embryos with and without their chorionic membrane. Embryos still enclosed in their chorion can be manipulated using an agarose bed or a methyl cellulose system, holding them in place and allowing their rotation to more specific angles and positions. Using these methods, we demonstrate microinjection of embryos and monitoring of fluorescent yolk syncytial nuclei (YSN) using both stereo and compound microscopes. For higher magnification imaging using compound microscopes as well as time-lapse analyses, embryos were dechorionated and embedded in low-melting-point agarose. To demonstrate this embedding technique, we further examined fluorescent YSN and also analyzed the yolk surface of K. marmoratus embryos. The latter was observed to provide an excellent imaging platform for study of the behavior and morphology of cells during embryonic development, for various types of cells. Our data demonstrate that K. marmoratus is an excellent model species for research in developmental biology, as methodological approaches for the manipulation and imaging of embryos are efficient and readily available.

  10. Electric and Magnetic Manipulation of Biological Systems

    Science.gov (United States)

    Lee, H.; Hunt, T. P.; Liu, Y.; Ham, D.; Westervelt, R. M.

    2005-06-01

    New types of biological cell manipulation systems, a micropost matrix, a microelectromagnet matrix, and a microcoil array, were developed. The micropost matrix consists of post-shaped electrodes embedded in an insulating layer. With a separate ac voltage applied to each electrode, the micropost matrix generates dielectrophoretic force to trap and move individual biological cells. The microelectromagnet matrix consists of two arrays of straight wires aligned perpendicular to each other, that are covered with insulating layers. By independently controlling the current in each wire, the microelectromagnet matrix creates versatile magnetic fields to manipulate individual biological cells attached to magnetic beads. The microcoil array is a set of coils implemented in a foundry using a standard silicon fabrication technology. Current sources to the coils, and control circuits are integrated on a single chip, making the device self-contained. Versatile manipulation of biological cells was demonstrated using these devices by generating optimized electric or magnetic field patterns. A single yeast cell was trapped and positioned with microscopic resolution, and multiple yeast cells were trapped and independently moved along the separate paths for cell-sorting.

  11. Genetic Manipulation of Human Embryonic Stem Cells.

    Science.gov (United States)

    Eiges, Rachel

    2016-01-01

    One of the great advantages of embryonic stem (ES) cells over other cell types is their accessibility to genetic manipulation. They can easily undergo genetic modifications while remaining pluripotent, and can be selectively propagated, allowing the clonal expansion of genetically altered cells in culture. Since the first isolation of ES cells in mice, many effective techniques have been developed for gene delivery and manipulation of ES cells. These include transfection, electroporation, and infection protocols, as well as different approaches for inserting, deleting, or changing the expression of genes. These methods proved to be extremely useful in mouse ES cells, for monitoring and directing differentiation, discovering unknown genes, and studying their function, and are now being extensively implemented in human ES cells (HESCs). This chapter describes the different approaches and methodologies that have been applied for the genetic manipulation of HESCs and their applications. Detailed protocols for generating clones of genetically modified HESCs by transfection, electroporation, and infection will be described, with special emphasis on the important technical details that are required for this purpose. All protocols are equally effective in human-induced pluripotent stem (iPS) cells.

  12. Soft Manipulators and Grippers: A Review

    Directory of Open Access Journals (Sweden)

    Josie Hughes

    2016-11-01

    Full Text Available Soft robotics is a growing area of research which utilises the compliance and adaptability of soft structures to develop highly adaptive robotics for soft interactions. One area in which soft robotics has the ability to make significant impact is in the development of soft grippers and manipulators. With an increased requirement for automation, robotics systems are required to perform task in unstructured and not well defined environments; conditions which conventional rigid robotics are not best suited. This requires a paradigm shift in the methods and materials used to develop robots such that they can adapt to and work safely in human environments. One solution to this is soft robotics, which enables soft interactions with the surroundings whilst maintaining the ability to apply significant force. This review paper assess the current materials and methods, actuation methods and sensors which are used in the development of soft manipulators. The achievements and shortcomings of recent technology in these key areas are evaluated, and this paper concludes with a discussion on the potential impacts of soft manipulators on industry and society.

  13. EVA robotics for Space Station Freedom: Dextrous Manipulator Development (DEMAND)

    Science.gov (United States)

    Williams, Robert L., II

    1992-01-01

    The topics are presented in viewgraph form and include: dextrous manipulator development (DMD), projected extravehicular activity (EVA) backlog, potential Special Purpose Dextrous Manipulator (SPDM) tasks, DMD Laboratory FY 1992-94, and program goals.

  14. Stock Market Manipulation on the Hong Kong Stock Exchange

    Directory of Open Access Journals (Sweden)

    Dionigi Gerace

    2014-10-01

    Full Text Available This study is the first to empirically examine stock market manipulation on the Hong Kong Stock Exchange. The dataset contains 40 cases of market manipulation from 1996 to 2009 that were successfully prosecuted by the Hong Kong Securities & Futures Commission. Manipulation is found to negatively impact market efficiency measures such as the bid-ask spread and volatility. Markets appear incapable of efficiently responding to the presence of manipulators and are characterised by information asymmetry. Manipulators were successfully able to raise prices and exit the market. This finding contradicts views that trade-based manipulation is entirely unprofitable and self-deterring. The victimisation of information-seeking investors and the market as a whole provides a strong rationale for all jurisdictions, including Australia, to have effective laws that prohibit manipulation and for robust enforcement of those laws to further deter market manipulation.

  15. CHAMP: A bespoke integrated system for mobile manipulation

    CSIR Research Space (South Africa)

    Van Eden, B

    2014-11-01

    Full Text Available Mobile manipulation is a robotics paradigm with the potential to make major contributions to a number of important domain areas. Although some mobile manipulators are commercially available, bespoke systems can be assembled from existing...

  16. Manipulating Tournaments in Cup and Round Robin Competitions

    CERN Document Server

    Russell, Tyrel; 10.1007/978-3-642-04428-1_3

    2009-01-01

    In sports competitions, teams can manipulate the result by, for instance, throwing games. We show that we can decide how to manipulate round robin and cup competitions, two of the most popular types of sporting competitions in polynomial time. In addition, we show that finding the minimal number of games that need to be thrown to manipulate the result can also be determined in polynomial time. Finally, we show that there are several different variations of standard cup competitions where manipulation remains polynomial.

  17. Mechatronic design of a robotic manipulator for unmanned aerial vehicles

    NARCIS (Netherlands)

    Fumagalli, M.; Stramigioli, S.; Carloni, R.

    2016-01-01

    The paper focuses on the mechatronic design of a robotic manipulator that is meant to be mounted on an Unmanned Aerial Vehicle (UAV) and to be used in industrial applications, for both aerial inspection by contact and aerial manipulation. The combination of an UAV and the robotic manipulator realize

  18. An Embedded and Embodied Cognition Review of Instructional Manipulatives

    Science.gov (United States)

    Pouw, Wim T. J. L.; van Gog, Tamara; Paas, Fred

    2014-01-01

    Recent literature on learning with instructional manipulatives seems to call for a moderate view on the effects of perceptual and interactive richness of instructional manipulatives on learning. This "moderate view" holds that manipulatives' perceptual and interactive richness may compromise learning in two ways: (1) by imposing a…

  19. A study of nanoparticle manipulation using ultrasonic standing waves

    NARCIS (Netherlands)

    Neer, P.L.M.J. van; Rasidovic, A.; Volker, A.W.F.

    2013-01-01

    There has been considerable interest in the noninvasive manipulation of particles in dispersions during the last 15 years. The manipulation techniques based on acoustic radiation forces are particularly interesting as they allow for the manipulation of particles based on their density, compressibili

  20. An Embedded and Embodied Cognition Review of Instructional Manipulatives

    Science.gov (United States)

    Pouw, Wim T. J. L.; van Gog, Tamara; Paas, Fred

    2014-01-01

    Recent literature on learning with instructional manipulatives seems to call for a moderate view on the effects of perceptual and interactive richness of instructional manipulatives on learning. This "moderate view" holds that manipulatives' perceptual and interactive richness may compromise learning in two ways: (1) by imposing a…

  1. Investigating Preservice Mathematics Teachers' Manipulative Material Design Processes

    Science.gov (United States)

    Sandir, Hakan

    2016-01-01

    Students use concrete manipulatives to form an imperative affiliation between conceptual and procedural knowledge (Balka, 1993). Hence, it is necessary to design specific mathematics manipulatives that focus on different mathematical concepts. Preservice teachers need to know how to make and use manipulatives that stimulate students' thinking as…

  2. Mechatronic design of a robotic manipulator for unmanned aerial vehicles

    NARCIS (Netherlands)

    Fumagalli, Matteo; Stramigioli, Stefano; Carloni, Raffaella

    2016-01-01

    The paper focuses on the mechatronic design of a robotic manipulator that is meant to be mounted on an Unmanned Aerial Vehicle (UAV) and to be used in industrial applications, for both aerial inspection by contact and aerial manipulation. The combination of an UAV and the robotic manipulator

  3. Physical versus Virtual Manipulative Experimentation in Physics Learning

    Science.gov (United States)

    Zacharia, Zacharias C.; Olympiou, Georgios

    2011-01-01

    The aim of this study was to investigate whether physical or virtual manipulative experimentation can differentiate physics learning. There were four experimental conditions, namely Physical Manipulative Experimentation (PME), Virtual Manipulative Experimentation (VME), and two sequential combinations of PME and VME, as well as a control condition…

  4. The Effects on Students’ Conceptual Understanding of Electric Circuits of Introducing Virtual Manipulatives Within a Physical Manipulatives-Oriented Curriculum

    NARCIS (Netherlands)

    Zacharia, Zacharias C.; de Jong, Anthonius J.M.

    2014-01-01

    This study investigates whether Virtual Manipulatives (VM) within a Physical Manipulatives (PM)-oriented curriculum affect conceptual understanding of electric circuits and related experimentation processes. A pre–post comparison study randomly assigned 194 undergraduates in an introductory physics

  5. The Effects on Students’ Conceptual Understanding of Electric Circuits of Introducing Virtual Manipulatives Within a Physical Manipulatives-Oriented Curriculum

    NARCIS (Netherlands)

    Zacharia, Zacharias C.; Jong, de Ton

    2014-01-01

    This study investigates whether Virtual Manipulatives (VM) within a Physical Manipulatives (PM)-oriented curriculum affect conceptual understanding of electric circuits and related experimentation processes. A pre–post comparison study randomly assigned 194 undergraduates in an introductory physics

  6. An On-Line Path Planner for Industrial Manipulators

    Directory of Open Access Journals (Sweden)

    Fabrizio Padula

    2013-03-01

    Full Text Available In this paper, an on‐line path planner for an industrial manipulator is presented. The proposed control architecture is capable of driving the manipulator in its environment while avoiding collisions. Potential fields are used in order to control the joint velocities in such a way that the robot avoids the obstacles. We also propose a new weighted pseudoinverse matrix that improves the manipulator capability of finding feasible paths to move around obstacles and pass through narrow corridors without relying on the manipulator dynamic model. The proposed technique fits to both redundant and non‐redundant manipulators. Experimental results show the effectiveness of the proposed solution.

  7. Cartesian Trajectory Tracking for Manipulators Using Optimal Control Theory

    Directory of Open Access Journals (Sweden)

    Olav Egeland

    1987-07-01

    Full Text Available A Cartesian trajectory tracking system for manipulators is developed using optimal control theory. By including the Cartesian position in the state vector, transformation of the trajectory from Cartesian space to manipulator joint space is avoided, and the Jacobian matrix need not be inverted. The tracking system may also be applied to kinematically redundant manipulators. For this type of manipulator, singularities are avoided by choosing a suitable performance index in the optimal control problem. Simulation using a simple kinematically redundant manipulator shows that a small tracking error can be achieved with low motor torques.

  8. Particle Manipulation by Miniaturised Dielectrophoretic Devices

    Directory of Open Access Journals (Sweden)

    Francis E.H. Tay

    2009-11-01

    Full Text Available This paper presents a review of dielectrophoresis (DEP devices which provide an effective way to manipulate and separate micro- or nano-bioparticles automatically and quickly by polarisation effects in a nonuniform electric field. A detailed review for designs and operation principles of various microfabricated DEP devicesis given and some advantages and disadvantages of current devices are noted to the final system to attain the unprecedented levels of performance.Defence Science Journal, 2009, 59(6, pp.595-604, DOI:http://dx.doi.org/10.14429/dsj.59.1564

  9. Active control of robot manipulator compliance

    Science.gov (United States)

    Nguyen, C. C.; Pooran, F. J.

    1986-01-01

    Work performed at Catholic University on the research grant entitled Active Control of Robot Manipulator Compliance, supported by NASA/Goddard space Flight Center during the period of May 15th, 1986 to November 15th, 1986 is described. The modelling of the two-degree-of-freedom robot is first presented. Then the complete system including the robot and the hybrid controller is simulated on an IBM-XT Personal Computer. Simulation results showed that proper adjustments of controller gains enable the robot to perform successful operations. Further research should focus on developing a guideline for the controller gain design to achieve system stability.

  10. Experimental verification of a large flexible manipulator

    Science.gov (United States)

    Lee, Jac Won; Huggins, James D.; Book, Wayne J.

    1988-01-01

    A large experimental lightweight manipulator would be useful for material handling, for welding, or for ultrasonic inspection of a large structure, such as an airframe. The flexible parallel link mechanism is designed for high rigidity without increasing weight. This constrained system is analyzed by singular value decomposition of the constraint Jacobian matrix. A verification of the modeling using the assumed mode method is presented. Eigenvalues and eigenvectors of the linearized model are compared to the measured system natural frequencies and their associated mode shapes. The modeling results for large motions are compared to the time response data from the experiments. The hydraulic actuator is verified.

  11. Manipulation of Terahertz Radiation Using Vanadium Dioxide

    Institute of Scientific and Technical Information of China (English)

    Qi-Ye Wen

    2014-01-01

    Vanadium dioxide (VO2) is a phase transition material which undergoes a reversible metal-insulator transition (MIT) when triggered by thermal, photo, electrical, and even stress. The huge conduction change of VO2 renders it a promising material for terahertz (THz) manipulation. In this paper, some interesting works concerning the growth and characteristics of the VO2 film are selectively reviewed. A switching of THz radiation by photo-driven VO2 film is demonstrated. Experiments indicate an ultrafast optical switching to THz transmission within 8 picoseconds, and a switching ratio reaches to over 80%during a wide frequency range from 0.3 THz to 2.5 THz.

  12. Diffraction manipulation by four-wave mixing

    CERN Document Server

    Katzir, Itay; Firstenberg, Ofer

    2014-01-01

    We suggest a scheme to manipulate paraxial diffraction by utilizing the dependency of a four-wave mixing process on the relative angle between the light fields. A microscopic model for four-wave mixing in a Lambda-type level structure is introduced and compared to recent experimental data. We show that images with feature size as low as 10 micrometers can propagate with very little or even negative diffraction. The inherent gain prevents loss and allows for operating at high optical depths. Our scheme does not rely on atomic motion and is thus applicable to both gaseous and solid media.

  13. Compound droplet manipulations on fiber arrays

    CERN Document Server

    Weyer, Floriane; Dreesen, Laurent; Vandewalle, Nicolas

    2015-01-01

    Recent works demonstrated that fiber arrays may constitue the basis of an open digital microfluidics. Various processes, such as droplet motion, fragmentation, trapping, release, mixing and encapsulation, may be achieved on fiber arrays. However, handling a large number of tiny droplets resulting from the mixing of several liquid components is still a challenge for developing microreactors, smart sensors or microemulsifying drugs. Here, we show that the manipulation of tiny droplets onto fiber networks allows for creating compound droplets with a high complexity level. Moreover, this cost-effective and flexible method may also be implemented with optical fibers in order to develop fluorescence-based biosensor.

  14. Genetic manipulation of lignocellulosic biomass for bioenergy.

    Science.gov (United States)

    Wang, Peng; Dudareva, Natalia; Morgan, John A; Chapple, Clint

    2015-12-01

    Lignocellulosic biomass represents an abundant and sustainable raw material for biofuel production. The recalcitrance of biomass to degradation increases the estimated cost of biofuel production and limits its competitiveness in the market. Genetic engineering of lignin, a major recalcitrance factor, improves saccharification and thus the potential yield of biofuels. Recently, our understanding of lignification and its regulation has been advanced by new studies in various systems, all of which further enhances our ability to manipulate the biosynthesis and deposition of lignin in energy crops for producing cost-effective second generation biofuels.

  15. Efficient human hand kinematics for manipulation tasks

    OpenAIRE

    Cobos Guzmán, Salvador; Ferre Perez, Manuel; Sanchez-Uran Gonzalez, Miguel Angel; Ortego la Moneda, Javier; Peña, César

    2008-01-01

    This work is focused on obtaining efficient human hand models that are suitable for manipulation tasks. A 24 DoF kinematic model of the human hand is defined to realistic movements. This model is based on the human skeleton. Dynamic and Static constraints have been included in order to improve the movement realism. Two simplified hand models with 9 and 6 DoF have been developed according to the constraints predefined. These simplified models involve some errors in reconstructing the hand post...

  16. Adaptive supervisory control of remote manipulation

    Science.gov (United States)

    Ferrell, W. R.

    1977-01-01

    The command language by which an operator exerts supervisory control over a general purpose remote manipulator should be designed to accommodate certain characteristics of human performance if there is to be effective communication between the operator and the machine. Some of the ways in which people formulate tasks, use language, learn and make errors are discussed and design implications are drawn. A general approach to command language design is suggested, based on the notion matching the operator's current task schema or context by appropriate program structures or 'frames' in the machine.

  17. Square Root - Type Control for Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Fernando Reyes

    2013-01-01

    Full Text Available This paper addresses the problem of position control for robot manipulators. A new control structure with compensation for global position is presented. The main contribution of this paper is to prove that the closed loop system of the nonlinear robot dynamics model and the proposed control algorithm is globally, asymptotically stable and in agreement with Lyapunov’s direct method and LaSalle’s invariance principle. Besides this, the theoretical results in a real‐time experimental comparison are also presented to show a comparison of the performance between the square root type controller and simple PD scheme on a three degrees‐of‐freedom direct‐drive robot.

  18. Robust force control of a robot manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Dawson, D.M. (Clemson Univ., SC (United States)); Lewis, F.L. (Univ. of Texas, Fort Worth (United States)); Dorsey, J.F. (Georgia Inst. of Tech., Atlanta (United States))

    1992-08-01

    In this article, the authors develop a robust position/force controller based on the impedance approach without requiring exact knowledge of the robot dynamics. The controller is constructed so that a desired positional trajectory can be followed along the surface of the environment while the forces exerted on the environmental surface are regulated according to a target impedance. A global uniform ultimate boundedness result is obtained for the position tracking error and the force regulation error (i.e., the error between the actual manipulator impedance and desired target impedance). The controller only requires measurement of the end-effector force, joint velocity, and joint position.

  19. Ion manipulation and precision measurements at JYFLTRAP

    Energy Technology Data Exchange (ETDEWEB)

    Jokinen, A.; Eronen, T.; Hager, U.; Hakala, J.; Kopecky, S.; Rinta-Antila, S.; Aeystoe, J. [University of Jyvaeskylae, Department of Physics, Jyvaeskylae (Finland); Nieminen, A. [University of Manchester, Schuster Laboratory, Manchester (United Kingdom)

    2005-09-01

    Various ion manipulation tools based on ion trapping technologies have been implemented at the IGISOL-facility in JYFL. An RFQ ion cooler and buncher is used to enhance the sensitivity of collinear laser spectroscopy and as an injector to the Penning trap. Penning traps are utilized both in nuclear spectroscopy and for precision mass measurements, as explained in the paper. Atomic masses of neutron-rich Zr, Mo and Sr isotopes were found to be in disagreement with the Atomic-Mass Evaluation and two-neutron separation energies imply strong nuclear structure effects at the neutron number N=60. (orig.)

  20. Square Root - Type Control for Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Fernando Reyes

    2013-01-01

    Full Text Available This paper addresses the problem of position control for robot manipulators. A new control structure with compensation for global position is presented. The main contribution of this paper is to prove that the closed loop system of the nonlinear robot dynamics model and the proposed control algorithm is globally, asymptotically stable and in agreement with Lyapunov's direct method and LaSalle's invariance principle. Besides this, the theoretical results in a real-time experimental comparison are also presented to show a comparison of the performance between the square root type controller and simple PD scheme on a three degrees-of-freedom direct-drive robot.

  1. Haptic rendering for simulation of fine manipulation

    CERN Document Server

    Wang, Dangxiao; Zhang, Yuru

    2014-01-01

    This book introduces the latest progress in six degrees of freedom (6-DoF) haptic rendering with the focus on a new approach for simulating force/torque feedback in performing tasks that require dexterous manipulation skills. One of the major challenges in 6-DoF haptic rendering is to resolve the conflict between high speed and high fidelity requirements, especially in simulating a tool interacting with both rigid and deformable objects in a narrow space and with fine features. The book presents a configuration-based optimization approach to tackle this challenge. Addressing a key issue in man

  2. Control and manipulation of electron beams

    Energy Technology Data Exchange (ETDEWEB)

    Piot, Philippe; /NICADD, DeKalb /Northern Illinois U. /Fermilab

    2008-09-01

    The concepts of the advanced accelerators and light source rely on the production of bright electron beams. The rms areas of the beam phase space often need to be tailored to the specific applications. Furthermore, a new class of the forefront research calls for detailed specific distribution such as the particle density in the time coordinate. Several groups are tackling these various challenges and in this report we attempt to give a review of the state-of-the-art of the control and manipulation of the electron beams.

  3. The Borda count and agenda manipulation

    OpenAIRE

    Michael Dummett

    1998-01-01

    A standard objection to the Borda count, as an actual voting procedure, is that it is subject to agenda manipulation. The classical example is the introduction, in order to favour a candidate or option y, of a new option z ranked on every voter's preference scale immediately below y; y may as a result obtain the highest Borda count, although, if z had not been introduced, a different option would have done so. Strategic use of this device is not greatly to be feared, but it does point to a de...

  4. Osiris: a medical image-manipulation system.

    Science.gov (United States)

    Ligier, Y; Ratib, O; Logean, M; Girard, C

    1994-01-01

    We designed a general-purpose computer program, Osiris, for the display, manipulation, and analysis of digital medical images. The program offers an intuitive, window-based interface with direct access to generic tools. Characterized by user-friendliness, portability, and extensibility, Osiris is compatible with both Unix-based and Macintosh-based platforms. It is readily modified and can be used to develop new tools. It is able to monitor the entries made during a work session and thus provide data on its use. Osiris and its source code are being distributed, free of charge, to universities and research groups around the world.

  5. The risk associated with spinal manipulation

    DEFF Research Database (Denmark)

    Nielsen, Sabrina Mai; Tarp, Simon; Christensen, Robin

    2017-01-01

    BACKGROUND: Spinal manipulative therapy (SMT) is a widely used manual treatment, but many reviews exist with conflicting conclusions about the safety of SMT. We performed an overview of reviews to elucidate and quantify the risk of serious adverse events (SAEs) associated with SMT. METHODS: We...... communicating that SMT is safe and meeting the requirements for each AMSTAR item, were calculated. RESULTS: We identified 283 eligible reviews, but only 118 provided data for synthesis. The most frequently described adverse events (AEs) were stroke, headache, and vertebral artery dissection. Fifty-four reviews...

  6. Uniqueness Domains in the Workspace of Parallel Manipulators

    CERN Document Server

    Wenger, Philippe

    1997-01-01

    This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint values. The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The study focuses on the most usual case of parallel manipulators with only one inverse kinematic solution. The notion of aspect introduced for serial manipulators in [Borrel 86] is redefined for such parallel manipulators. Then, it is shown that it is possible to link several solutions to the forward kinematic problem without meeting a singularity, thus meaning that the aspects are not uniqueness domains. An additional set of surfaces, namely the characteristic surfaces, are characterized which divide the workspace into basic regions and yield new uniqueness domains. This study is illustrated all along the paper with a 3-RPR planar parallel manipulator. An oc...

  7. Sensing qualitative events to control manipulation

    Science.gov (United States)

    Pook, Polly K.; Ballard, Dana H.

    1992-11-01

    Dexterous robotic hands have numerous sensors distributed over a flexible high-degree-of- freedom framework. Control of these hands often relies on a detailed task description that is either specified a priori or computed on-line from sensory feedback. Such controllers are complex and may use unnecessary precision. In contrast, one can incorporate plan cues that provide a contextual backdrop in order to simplify the control task. To demonstrate, a Utah/MIT dexterous hand mounted on a Puma 760 arm flips a plastic egg, using the finger tendon tensions as the sole control signal. The completion of each subtask, such as picking up the spatula, finding the pan, and sliding the spatula under the egg, is detected by sensing tension states. The strategy depends on the task context but does not require precise positioning knowledge. We term this qualitative manipulation to draw a parallel with qualitative vision strategies. The approach is to design closed-loop programs that detect significant events to control manipulation but ignore inessential details. The strategy is generalized by analyzing the robot state dynamics during teleoperated hand actions to reveal the essential features that control each action.

  8. Lycaenid Caterpillar Secretions Manipulate Attendant Ant Behavior.

    Science.gov (United States)

    Hojo, Masaru K; Pierce, Naomi E; Tsuji, Kazuki

    2015-08-31

    Mutualistic interactions typically involve the exchange of different commodities between species. Nutritious secretions are produced by a number of insects and plants in exchange for services such as defense. These rewards are valuable metabolically and can be used to reinforce the behavior of symbiotic partners that can learn and remember them effectively. We show here novel effects of insect exocrine secretions produced by caterpillars in modulating the behavior of attendant ants in the food-for-defense interaction between lycaenid butterflies and ants. Reward secretions from the dorsal nectary organ (DNO) of Narathura japonica caterpillars function to reduce the locomotory activities of their attendant ants, Pristomyrmex punctatus workers. Moreover, workers that feed from caterpillar secretions are significantly more likely to show aggressive responses to eversion of the tentacle organs of the caterpillars. Analysis of the neurogenic amines in the brains of workers that consumed caterpillar secretions showed a significant decrease in levels of dopamine compared with controls. Experimental treatments in which reserpine, a known inhibitor of dopamine in Drosophila, was fed to workers similarly reduced their locomotory activity. We conclude that DNO secretions of lycaenid caterpillars can manipulate attendant ant behavior by altering dopaminergic regulation and increasing partner fidelity. Unless manipulated ants also receive a net nutritional benefit from DNO secretions, this suggests that similar reward-for-defense interactions that have been traditionally considered to be mutualisms may in fact be parasitic in nature. Copyright © 2015 Elsevier Ltd. All rights reserved.

  9. [Deqi and application and manipulation of Deqi].

    Science.gov (United States)

    Wang, Pei-qing

    2007-05-01

    Deqi is the key for therapeutic effect of acupuncture therapy. In the present paper, the significance of Deqi, and how to differentiate qi and how to induce Deqi are preliminarily studied. Deqi is concrete response of acupuncturist and the patient during acupuncture. Arrival of qi is like bobbing on water when the fish swallows the fishhook; no arrival of qi is like the deep valley with shallow sensation. For differentiation of qi, the vital-qi (essence derived from food), pathogenic factor, deficiency and excess, cold and heat need to be differentiated. For manipulation, the 14 methods of Yang Ji-zhou are used as guiding principle. In brief, massage along channel induces qi, on-the-point pressing promotes flow of qi, circling method regulates qi. And reinforcing and reducing by puncturing along and against the direction of channels respectively are explained, and how to induce Deqi is preliminarily expounded from methods of inserting the needle, manipulating the needle and withdrawing the needle.

  10. Analysis, reconstruction and manipulation using arterial snakes

    KAUST Repository

    Li, Guo

    2010-01-01

    Man-made objects often consist of detailed and interleaving structures, which are created using cane, coils, metal wires, rods, etc. The delicate structures, although manufactured using simple procedures, are challenging to scan and reconstruct. We observe that such structures are inherently 1D, and hence are naturally represented using an arrangement of generating curves. We refer to the resultant surfaces as arterial surfaces. In this paper we approach for analyzing, reconstructing, and manipulating such arterial surfaces. The core of the algorithm is a novel deformable model, called arterial snake, that simultaneously captures the topology and geometry of the arterial objects. The recovered snakes produce a natural decomposition of the raw scans, with the decomposed parts often capturing meaningful object sections. We demonstrate the robustness of our algorithm on a variety of arterial objects corrupted with noise, outliers, and with large parts missing. We present a range of applications including reconstruction, topology repairing, and manipulation of arterial surfaces by directly controlling the underlying curve network and the associated sectional profiles, which are otherwise challenging to perform. © 2010 ACM.

  11. Human-Manipulator Interface Using Particle Filter

    Directory of Open Access Journals (Sweden)

    Guanglong Du

    2014-01-01

    Full Text Available This paper utilizes a human-robot interface system which incorporates particle filter (PF and adaptive multispace transformation (AMT to track the pose of the human hand for controlling the robot manipulator. This system employs a 3D camera (Kinect to determine the orientation and the translation of the human hand. We use Camshift algorithm to track the hand. PF is used to estimate the translation of the human hand. Although a PF is used for estimating the translation, the translation error increases in a short period of time when the sensors fail to detect the hand motion. Therefore, a methodology to correct the translation error is required. What is more, to be subject to the perceptive limitations and the motor limitations, human operator is hard to carry out the high precision operation. This paper proposes an adaptive multispace transformation (AMT method to assist the operator to improve the accuracy and reliability in determining the pose of the robot. The human-robot interface system was experimentally tested in a lab environment, and the results indicate that such a system can successfully control a robot manipulator.

  12. Kinematics and trajectory synthesis of manipulation robots

    CERN Document Server

    Vukobratović, Miomir

    1986-01-01

    A few words about the series "Scientific Fundamentals of Robotics" should be said on the occasion of publication of the present monograph. This six-volume series has been conceived so as to allow the readers to master a contemporary approach to the construction and synthesis of con­ trol for manipulation ~obots. The authors' idea was to show how to use correct mathematical models of the dynamics of active spatial mecha­ nisms for dynamic analysis of robotic systems, optimal design of their mechanical parts based on the accepted criteria and imposed constraints, optimal choice of actuators, synthesis of dynamic control algorithms and their microcomputer implementation. In authors' oppinion this idea has been relatively successfully realized within the six-volume mono­ graphic series. Let us remind the readers of the books of this series. Volumes 1 and 2 are devoted to the dynamics and control algorithms of manipulation ro­ bots, respectively. They form the first part of the series which has a certain topic...

  13. The Manipulation of Pace within Endurance Sport

    Science.gov (United States)

    Skorski, Sabrina; Abbiss, Chris R.

    2017-01-01

    In any athletic event, the ability to appropriately distribute energy is essential to prevent premature fatigue prior to the completion of the event. In sport science literature this is termed “pacing.” Within the past decade, research aiming to better understand the underlying mechanisms influencing the selection of an athlete's pacing during exercise has dramatically increased. It is suggested that pacing is a combination of anticipation, knowledge of the end-point, prior experience and sensory feedback. In order to better understand the role each of these factors have in the regulation of pace, studies have often manipulated various conditions known to influence performance such as the feedback provided to participants, the starting strategy or environmental conditions. As with all research there are several factors that should be considered in the interpretation of results from these studies. Thus, this review aims at discussing the pacing literature examining the manipulation of: (i) energy expenditure and pacing strategies, (ii) kinematics or biomechanics, (iii) exercise environment, and (iv) fatigue development. PMID:28289392

  14. Human-manipulator interface using particle filter.

    Science.gov (United States)

    Du, Guanglong; Zhang, Ping; Wang, Xueqian

    2014-01-01

    This paper utilizes a human-robot interface system which incorporates particle filter (PF) and adaptive multispace transformation (AMT) to track the pose of the human hand for controlling the robot manipulator. This system employs a 3D camera (Kinect) to determine the orientation and the translation of the human hand. We use Camshift algorithm to track the hand. PF is used to estimate the translation of the human hand. Although a PF is used for estimating the translation, the translation error increases in a short period of time when the sensors fail to detect the hand motion. Therefore, a methodology to correct the translation error is required. What is more, to be subject to the perceptive limitations and the motor limitations, human operator is hard to carry out the high precision operation. This paper proposes an adaptive multispace transformation (AMT) method to assist the operator to improve the accuracy and reliability in determining the pose of the robot. The human-robot interface system was experimentally tested in a lab environment, and the results indicate that such a system can successfully control a robot manipulator.

  15. Placebo manipulations reduce hyperalgesia in neuropathic pain.

    Science.gov (United States)

    Petersen, Gitte Laue; Finnerup, Nanna Brix; Nørskov, Kathrine Næsted; Grosen, Kasper; Pilegaard, Hans K; Benedetti, Fabrizio; Price, Donald D; Jensen, Troels Staehelin; Vase, Lene

    2012-06-01

    Several studies have shown that placebo analgesia effects can be obtained in healthy volunteers, as well as patients suffering from acute postoperative pain and chronic pain conditions such as irritable bowel syndrome. However, it is unknown whether placebo analgesia effects can be elicited in chronic pain conditions with a known pathophysiology such as a nerve injury. Nineteen patients who had developed neuropathic pain after thoracotomy were exposed to a placebo manipulation in which they received either open or hidden administrations of lidocaine. Before the treatment, the patients rated their levels of spontaneous pain and expected pain and completed a questionnaire on their emotional feelings (Positive Affect Negative Affect Schedule) and went through quantitative sensory testing of evoked pain (brush and cold allodynia, heat pain tolerance, area of pinprick hyperalgesia, wind-up-like pain after pinprick stimulation). The placebo manipulation significantly reduced the area of pinprick hyperalgesia (P=.027), and this placebo effect was significantly related to low levels of negative affect (P=.008; R(2)=0.362) but not to positive affect or expected pain levels. No placebo effect was observed in relation to spontaneous pain or evoked pain, which is most likely due to low pain levels resulting in floor effects. This is the first study to demonstrate a placebo effect in neuropathic pain. The possible mechanisms underlying the placebo effects in hyperalgesia are discussed, and implications for treatment are outlined.

  16. Behavior-Based Assists for Telerobotic Manipulation

    Energy Technology Data Exchange (ETDEWEB)

    Noakes, Mark W [ORNL; Hamel, Dr. William R. [University of Tennessee, Knoxville (UTK)

    2008-01-01

    Teleoperated manipulation has been a critical tool in hazardous operations where the presence of humans has been precluded since the early days of nuclear material handling. Performance levels and limitations were understood and accepted. However, in the current era of decontamination and decommissioning (D&D) of facilities owned by the U.S. Department of Energy, there has been criticism that traditional remote systems are too expensive, too slow, and too difficult to use by cost-driven demolition companies. Previous research in telerobotics has attempted to alleviate some of these issues; however, it has been difficult to get capabilities generated in the research lab into the field. One major difficulty is the severely unstructured environments found in real D&D type environments. Behavior-based robotics (BBR) is based on concepts specifically designed to permit autonomous robots to function in unstructured environments. BBR schemes use sensor data to interact with the world directly rather than to generate models that are manipulated. Because the robot is immersed in its environment and since sensors are mounted on the robot, sensing and motion are inherently calibrated with respect to the robot. This paper presents a behavior-based approach and architecture for executing telerobotic D&D type tooling tasks.

  17. Investigations on the dynamic coupling in AUV-manipulator system and the manipulator trajectory errors using bond graph method

    Science.gov (United States)

    Periasamy, T.; Asokan, T.; Singaperumal, M.

    2012-06-01

    This article presents the modelling and simulation of the dynamic coupling in an autonomous underwater vehicle (AUV)-manipulator system, used for subsea intervention tasks. Bond graph, a powerful tool in multi-domain dynamic system modelling, is used for the first time to model the coupled dynamics of the AUV-manipulator system. This method enables the development of the system model in a modular form by creating sub-system models and connecting these models together at energy interactions ports, thus overcoming many of the computational difficulties encountered in conventional modelling methods. The effects of gravity, buoyancy, added mass and fluid drag on the dynamics of a 3 degrees of freedom (DoF) manipulator mounted on a 6 DoF AUV are analysed. The manipulator trajectory errors due to the interaction forces and moments between the vehicle and the manipulator have also been investigated and the results are presented. The dynamic model predicts the reaction forces on the vehicle under various operating conditions of the manipulator and their influence on the manipulator trajectory. The percentage errors of manipulator tip trajectory for different initial configurations and operating conditions are analysed. The estimation of resulting errors in the manipulator path due to dynamic coupling effect on the manipulator trajectory helps in the design of suitable trajectory controller for the system. Cartesian space transpose Jacobian controller for trajectory control of manipulator has been implemented and results are presented.

  18. Contribution of manipulable and non-manipulable environmental factors to trapping efficiency of invasive sea lamprey

    Science.gov (United States)

    Dawson, Heather A.; Bravener, Gale; Beaulaurier, Joshua; Johnson, Nicholas S.; Twohey, Michael; McLaughlin, Robert L.; Brenden, Travis O.

    2017-01-01

    We identified aspects of the trapping process that afforded opportunities for improving trap efficiency of invasive sea lamprey (Petromyzon marinus) in a Great Lake's tributary. Capturing a sea lamprey requires it to encounter the trap, enter, and be retained until removed. Probabilities of these events depend on the interplay between sea lamprey behavior, environmental conditions, and trap design. We first tested how strongly seasonal patterns in daily trap catches (a measure of trapping success) were related to nightly rates of trap encounter, entry, and retention (outcomes of sea lamprey behavior). We then tested the degree to which variation in rates of trap encounter, entry, and retention were related to environmental features that control agents can manipulate (attractant pheromone addition, discharge) and features agents cannot manipulate (water temperature, season), but could be used as indicators for when to increase trapping effort. Daily trap catch was most strongly associated with rate of encounter. Relative and absolute measures of predictive strength for environmental factors that managers could potentially manipulate were low, suggesting that opportunities to improve trapping success by manipulating factors that affect rates of encounter, entry, and retention are limited. According to results at this trap, more sea lamprey would be captured by increasing trapping effort early in the season when sea lamprey encounter rates with traps are high. The approach used in this study could be applied to trapping of other invasive or valued species.

  19. Modeling the manipulator and flipper pose effects on tip over stability of a tracked mobile manipulator

    CSIR Research Space (South Africa)

    Dube, C

    2011-11-01

    Full Text Available or the gradient of the slope being traversed by the platform. This paper presents the model of a tracked mobile manipulator for tipover stability analysis in stope mining environments. The Force Angle stability measure is used to compute the stability index...

  20. Effects of Tools Inserted through Snake-like Surgical Manipulators

    Science.gov (United States)

    Murphy, Ryan J.; Otake, Yoshito; Wolfe, Kevin C.; Taylor, Russell H.; Armand, Mehran

    2015-01-01

    Snake-like manipulators with a large, open lumen can offer improved treatment alternatives for minimally- and less-invasive surgeries. In these procedures, surgeons use the manipulator to introduce and control flexible tools in the surgical environment. This paper describes a predictive algorithm for estimating manipulator configuration given tip position for nonconstant curvature, cable-driven manipulators using energy minimization. During experimental bending of the manipulator with and without a tool inserted in its lumen, images were recorded from an overhead camera in conjunction with actuation cable tension and length. To investigate the accuracy, the estimated manipulator configuration from the model and the ground-truth configuration measured from the image were compared. Additional analysis focused on the response differences for the manipulator with and without a tool inserted through the lumen. Results indicate that the energy minimization model predicts manipulator configuration with an error of 0.24 ± 0.22mm without tools in the lumen and 0.24 ± 0.19mm with tools in the lumen (no significant difference, p = 0.81). Moreover, tools did not introduce noticeable perturbations in the manipulator trajectory; however, there was an increase in requisite force required to reach a configuration. These results support the use of the proposed estimation method for calculating the shape of the manipulator with an tool inserted in its lumen when an accuracy range of at least 1mm is required. PMID:25571571

  1. Effects of tools inserted through snake-like surgical manipulators.

    Science.gov (United States)

    Murphy, Ryan J; Otake, Yoshito; Wolfe, Kevin C; Taylor, Russell H; Armand, Mehran

    2014-01-01

    Snake-like manipulators with a large, open lumen can offer improved treatment alternatives for minimally-and less-invasive surgeries. In these procedures, surgeons use the manipulator to introduce and control flexible tools in the surgical environment. This paper describes a predictive algorithm for estimating manipulator configuration given tip position for nonconstant curvature, cable-driven manipulators using energy minimization. During experimental bending of the manipulator with and without a tool inserted in its lumen, images were recorded from an overhead camera in conjunction with actuation cable tension and length. To investigate the accuracy, the estimated manipulator configuration from the model and the ground-truth configuration measured from the image were compared. Additional analysis focused on the response differences for the manipulator with and without a tool inserted through the lumen. Results indicate that the energy minimization model predicts manipulator configuration with an error of 0.24 ± 0.22mm without tools in the lumen and 0.24 ± 0.19mm with tools in the lumen (no significant difference, p = 0.81). Moreover, tools did not introduce noticeable perturbations in the manipulator trajectory; however, there was an increase in requisite force required to reach a configuration. These results support the use of the proposed estimation method for calculating the shape of the manipulator with an tool inserted in its lumen when an accuracy range of at least 1mm is required.

  2. Naturally Supervised Learning in Manipulable Technologies

    CERN Document Server

    Alicea, Bradly

    2011-01-01

    Objective: It will be argued that haptic and proprioceptive sensory inputs serve a supervisory function in movement production related to the control of virtual environments and human-machine interfaces. To accomplish this, an approach new to human factors called neuromechanics will be used. This involves the introduction of novel techniques and analyses which demonstrate the multifaceted and regulatory role of adaptation in interactions between humans and motion and touch-based (e.g. manipulable) devices and interfaces. Background: Neuromechanics is an approach that unifies the role of physiological function, motor performance, and environmental effects in determining human performance. In this paper, a neuromechanical perspective will be used to explain the supervisory role of environmental variation on human performance. Method: Three experiments are presented using two different types of virtual environment that allowed for selective perturbation. Electromyography (EMG) and information related to kinemati...

  3. Ponderomotive manipulation of cold subwavelength plasmas

    CERN Document Server

    Smorenburg, P W; Luiten, O J

    2012-01-01

    Ponderomotive forces (PFs) induced in cold subwavelength plasmas by an externally applied electromagnetic wave are studied analytically. To this end, the plasma is modeled as a sphere with a radially varying permittivity, and the internal electric fields are calculated by solving the macroscopic Maxwell equations using an expansion in Debye potentials. It is found that the PF is directed opposite to the plasma density gradient, similarly to large-scale plasmas. In case of a uniform density profile, a residual spherically symmetric compressive PF is found, suggesting possibilities for contactless ponderomotive manipulation of homogeneous subwavelength objects. The presence of a surface PF on discontinuous plasma boundaries is derived. This force is essential for a microscopic description of the radiation-plasma interaction consistent with momentum conservation. It is shown that the PF integrated over the plasma volume is equivalent to the radiation pressure exerted on the plasma by the incident wave. The conce...

  4. Manipulation and cutting of carbon nanotubes

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    Nanomanipulation plays an important role in nanofabrication, it is also a technology necessary in exploring the secrets of nanoworld, and it thus beco mesa start point to research future nanomachine. In this study, manipulation and cutting of carbon nanotubes have been conducted in order to examine whether we can move a nanocomponent from one site to another by using the tip of atomic fo rce microscope (AFM). The technique may also be valuable for providing the const ructive materials of nanofabrication. While exploring the method for manipulatin g and cutting of nanotubes, some new phenomena have been observed during the process. Results show that carbon nanotubes present a feature of deformation combin ing bending and distortion when subjected to large mechanical forces exerted by the tip of AFM. In special cases, long carbon nanotubes can be cut into two part s, by which we can remove the part where crystal lattice is flawed, and therefor e a perfect nanocomponent can be obtained.

  5. Optical Manipulation of Single Flux Quanta

    CERN Document Server

    Veshchunov, I S; Mironov, S V; Godin, A G; Trebbia, J -B; Buzdin, A I; Tamarat, Ph; Lounis, B

    2016-01-01

    Magnetic field can penetrate into type-II superconductors in the form of Abrikosov vortices, which are magnetic flux tubes surrounded by circulating supercurrents often trapped at defects referred to as pinning sites. Although the average properties of the vortex matter can be tuned with magnetic fields, temperature or electric currents, handling of individual vortices remains challenging and has been demonstrated only with sophisticated magnetic force, superconducting quantum interference device or strain-induced scanning local probe microscopies. Here, we introduce a far-field optical method based on local heating of the superconductor with a focused laser beam to realize a fast, precise and non-invasive manipulation of individual Abrikosov vortices, in the same way as with optical tweezers. This simple approach provides the perfect basis for sculpting the magnetic flux profile in superconducting devices like a vortex lens or a vortex cleaner, without resorting to static pinning or ratchet effects. Since a ...

  6. Model Manipulation for End-User Modelers

    DEFF Research Database (Denmark)

    Acretoaie, Vlad

    of these proposals. To achieve its first goal, the thesis presents the findings of a Systematic Mapping Study showing that human factors topics are scarcely and relatively poorly addressed in model transformation research. Motivated by these findings, the thesis explores the requirements of end-user modelers......End-user modelers are domain experts who create and use models as part of their work. They are typically not Software Engineers, and have little or no programming and meta-modeling experience. However, using model manipulation languages developed in the context of Model-Driven Engineering often...... requires such experience. These languages are therefore only used by a small subset of the modelers that could, in theory, benefit from them. The goals of this thesis are to substantiate this observation, introduce the concepts and tools required to overcome it, and provide empirical evidence in support...

  7. Improving information filtering via network manipulation

    CERN Document Server

    Zhang, Fuguo

    2012-01-01

    Recommender system is a very promising way to address the problem of overabundant information for online users. Though the information filtering for the online commercial systems received much attention recently, almost all of the previous works are dedicated to design new algorithms and consider the user-item bipartite networks as given and constant information. However, many problems for recommender systems such as the cold-start problem (i.e. low recommendation accuracy for the small degree items) are actually due to the limitation of the underlying user-item bipartite networks. In this letter, we propose a strategy to enhance the performance of the already existing recommendation algorithms by directly manipulating the user-item bipartite networks, namely adding some virtual connections to the networks. Numerical analyses on two benchmark data sets, MovieLens and Netflix, show that our method can remarkably improve the recommendation performance. Specifically, it not only improve the recommendations accur...

  8. Droplet Manipulations in Two Phase Flow Microfluidics

    Directory of Open Access Journals (Sweden)

    Arjen M. Pit

    2015-11-01

    Full Text Available Even though droplet microfluidics has been developed since the early 1980s, the number of applications that have resulted in commercial products is still relatively small. This is partly due to an ongoing maturation and integration of existing methods, but possibly also because of the emergence of new techniques, whose potential has not been fully realized. This review summarizes the currently existing techniques for manipulating droplets in two-phase flow microfluidics. Specifically, very recent developments like the use of acoustic waves, magnetic fields, surface energy wells, and electrostatic traps and rails are discussed. The physical principles are explained, and (potential advantages and drawbacks of different methods in the sense of versatility, flexibility, tunability and durability are discussed, where possible, per technique and per droplet operation: generation, transport, sorting, coalescence and splitting.

  9. Diffraction manipulation by four-wave mixing.

    Science.gov (United States)

    Katzir, Itay; Ron, Amiram; Firstenberg, Ofer

    2015-03-09

    We suggest a scheme to manipulate paraxial diffraction by utilizing the dependency of a four-wave mixing process on the relative angle between the light fields. A microscopic model for four-wave mixing in a Λ-type level structure is introduced and compared to recent experimental data. We show that images with feature size as low as 10 μm can propagate with very little or even negative diffraction. The mechanism is completely different from that conserving the shape of spatial solitons in nonlinear media, as here diffraction is suppressed for arbitrary spatial profiles. At the same time, the gain inherent to the nonlinear process prevents loss and allows for operating at high optical depths. Our scheme does not rely on atomic motion and is thus applicable to both gaseous and solid media.

  10. [Suicide with a manipulated hand grenade].

    Science.gov (United States)

    Preuss-Wössner, Johanna; Kroll, Jürgen

    2010-01-01

    Explosion injuries in civilians are rare. An uncommon case of suicide with a manipulated hand grenade is presented. The findings at the scene and on the body (i.a. massive soot blackening of the skin, singeing, size and number of splinters) gave reason to doubt the use of trinitrotoluene (TNT), the usual explosive charge in hand grenades. Further investigations showed that parts of several hand grenades and black powder from standard fire-crackers commercially available without legal restriction had been used as propelling charge. The victim, who was in a sitting position, held the hand grenade in the left hand and triggered it with the right. He bled to death due to a fracture of the right femur and lacerations of the liver. The chronological course and total circumstances of the case suggested suicide in a strongly intoxicated condition (BAC 2.5 per mille). In the flat, a larger number of unlicensed weapons and weapon parts were found.

  11. Engineered cell manipulation for biomedical application

    CERN Document Server

    Akashi, Misturu; Matsusaki, Michiya

    2014-01-01

    This book is the first to summarize new technologies for engineered cell manipulation. The contents focus on control of cellular functions by nanomaterials and control of three-dimensional cell-cell interactions. Control of cellular functions is important for cell differentiation, maturation, and activation, which generally are controlled by the addition of soluble cytokines or growth factors into cell culture dishes. Target antigen molecules can be efficiently delivered to the cytosol of the dendritic cells using the nanoparticle technique described here, and cellular functions such as dendritic cell maturation can be controlled easily and with precision. This book describes basic preparation of the nanoparticles, activation control of dendritic cells, immune function control, and in vivo application for various vaccination systems. The second type of control,that of cell-cell interaction, is important for tissue engineering in order to develop three-dimensional cellular constructs. To achieve in vitro engin...

  12. Culture and manipulation of insect facultative symbionts.

    Science.gov (United States)

    Pontes, Mauricio H; Dale, Colin

    2006-09-01

    Insects from many different taxonomic groups harbor maternally transmitted bacterial symbionts. Some of these associations are ancient in origin and obligate in nature whereas others originated more recently and are facultative. Previous research focused on the biology of ancient obligate symbionts with essential nutritional roles in their insect hosts. However, recent important advances in understanding the biology of facultative associations have been driven by the development of techniques for the culture, genetic modification and manipulation of facultative symbionts. In this review, we examine these available experimental techniques and illustrate how they have provided fascinating new insight into the nature of associations involving facultative symbionts. We also propose a rationale for future research based on the integration of genomics and experimentation.

  13. Manipulating bubbles with secondary Bjerknes forces

    Energy Technology Data Exchange (ETDEWEB)

    Lanoy, Maxime [Institut Langevin, ESPCI ParisTech, CNRS (UMR 7587), PSL Research University, 1 rue Jussieu, 75005 Paris (France); Laboratoire Matière et Systèmes Complexes, Université Paris-Diderot, CNRS (UMR 7057), 10 rue Alice Domon et Léonie Duquet, 75013 Paris (France); Derec, Caroline; Leroy, Valentin [Laboratoire Matière et Systèmes Complexes, Université Paris-Diderot, CNRS (UMR 7057), 10 rue Alice Domon et Léonie Duquet, 75013 Paris (France); Tourin, Arnaud [Institut Langevin, ESPCI ParisTech, CNRS (UMR 7587), PSL Research University, 1 rue Jussieu, 75005 Paris (France)

    2015-11-23

    Gas bubbles in a sound field are submitted to a radiative force, known as the secondary Bjerknes force. We propose an original experimental setup that allows us to investigate in detail this force between two bubbles, as a function of the sonication frequency, as well as the bubbles radii and distance. We report the observation of both attractive and, more interestingly, repulsive Bjerknes force, when the two bubbles are driven in antiphase. Our experiments show the importance of taking multiple scatterings into account, which leads to a strong acoustic coupling of the bubbles when their radii are similar. Our setup demonstrates the accuracy of secondary Bjerknes forces for attracting or repealing a bubble, and could lead to new acoustic tools for noncontact manipulation in microfluidic devices.

  14. Atomic metasurfaces for manipulation of single photons

    CERN Document Server

    Zhou, Ming; Kats, Mikhail; Yu, Zongfu

    2016-01-01

    Metasurfaces are an emerging platform for the manipulation of light on a two-dimensional plane. Existing metasurfaces comprise arrays of optical resonators such as plasmonic antennas or high-index nanoparticles. In this letter, we describe a new type of metasurface based on electronic transitions in two-level systems (TLSs). Specifically, we investigated a sheet of rubidium (Rb) atoms, whose energy levels can be tuned with structured illumination from a control laser, which enables dynamically tunable single-photon steering. These metasurface elements are lossless and orders of magnitude smaller than conventional optical resonators, which allows for the overlapping of multiple metasurfaces in a single plane, enabling multi-band operation. We demonstrate that atomic metasurfaces can be passive optical elements, and can also be utilized for beaming of spontaneously emitted photons. Though conceptually similar to conventional metasurfaces, the use of TLSs, which are inherently Fermionic, will lead to numerous ne...

  15. Manipulation and control of a bichromatic lattice

    Science.gov (United States)

    Thomas, Claire; Barter, Thomas; Daiss, Severin; Leung, Zephy; Stamper-Kurn, Dan

    2015-05-01

    Recent experiments with ultracold atoms in optical lattices have had great success emulating the simple models of condensed matter systems. These experiments are typically performed with a single site per unit cell. We realize a lattice with up to four sites per unit cell by overlaying an attractive triangular lattice with a repulsive one at twice the wavelength. The relative displacement of the two lattices determines the particular structure. One available configuration is the kagome lattice, which has a flat energy band. In the flat band all kinetic energy states are degenerate, so we have the opportunity to explore a regime where interactions dominate. This bichromatic lattice requires careful stabilization, but offers an opportunity to manipulate the unit cell and band structure by perturbing the lattices relative to one another. I will discuss recent progress.

  16. Tuina Manipulation on Infantile Myogenic Torticollis

    Institute of Scientific and Technical Information of China (English)

    LU Jian-zhong

    2004-01-01

    With the knowledge handed down by his father, the author practices both acupuncture and Tuina and obtained good effects for infantile myogenic torticollis by Tuina manipulations, which relieved suffering of many kids and prevented them from the operative injury. Among 48 cases, the total effective rate reached 95.8% through the treatment of once everyday and 10 days a course.%笔者师承父学从事针灸,推拿临床工作,运用推拿手法治疗小儿肌性斜颈,每日1次,10d为1个疗程,在48例患儿中,总有效率95.8%,给众多的患儿解除了病痛,亦免于手术带来的创伤.

  17. BEAM MANIPULATION WITH AN RF DIPOLE.

    Energy Technology Data Exchange (ETDEWEB)

    BAI,M.

    1999-03-29

    Coherent betatron motion adiabatically excited by an RF dipole has been successfully employed to overcome strong intrinsic spin depolarization resonances in the AGS, while a solenoid partial snake has been used to correct imperfection spin resonances. The experimental results showed that a full spin flip was obtained in passing through an intrinsic spin resonance when all the beam particles were forced to oscillate coherently at a large amplitude without diluting the beam emittance. With this method, we have successfully accelerated polarized beam up to 23.5 GeV/c. A new type of second order spin resonances was also discovered. As a non-destructive manipulation, this method can also be used for nonlinear beam dynamics studies and beam diagnosis such as measuring phase advance and betatron amplitude function.

  18. Enhanced stiffness modeling of manipulators with passive joints

    CERN Document Server

    Pashkevich, Anatoly; Chablat, Damien

    2011-01-01

    The paper presents a methodology to enhance the stiffness analysis of serial and parallel manipulators with passive joints. It directly takes into account the loading influence on the manipulator configuration and, consequently, on its Jacobians and Hessians. The main contributions of this paper are the introduction of a non-linear stiffness model for the manipulators with passive joints, a relevant numerical technique for its linearization and computing of the Cartesian stiffness matrix which allows rank-deficiency. Within the developed technique, the manipulator elements are presented as pseudo-rigid bodies separated by multidimensional virtual springs and perfect passive joints. Simulation examples are presented that deal with parallel manipulators of the Ortholide family and demonstrate the ability of the developed methodology to describe non-linear behavior of the manipulator structure such as a sudden change of the elastic instability properties (buckling).

  19. Agent Control for Reconfigurable Open Kinematic Chain Manipulators

    Directory of Open Access Journals (Sweden)

    Janez Sluga

    2013-10-01

    Full Text Available This paper presents a method for the autonomous control of differently structured open kinematic chains based on multi-agent system technology. The appropriate level of distributing local autonomy (agents to a manipulative structure is defined, which makes it possible to dynamically change the number, type and structure of manipulative components without modifying their behavioural logic. To achieve fast reconfigurable and scalable manipulative systems, a new multi-agent method is developed for controlling the manipulator kinematics. The new method enables independent manipulator structure from the control system because of its structural and system modularity. The proposed method consists of kinematic equations for use in an agent environment, agent motion-planning algorithms, evaluation functions, agent control logic and kinematic algorithms. The results of simulations and real- world experiments demonstrate the usefulness of the approach for different non-redundant and redundant manipulation structures.

  20. Vehicle-manipulator systems modeling for simulation, analysis, and control

    CERN Document Server

    From, Pal Johan; Pettersen, Kristin Ytterstad

    2014-01-01

    Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas.  The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain glob...

  1. PROPERTY IDENTIFICATION OF SINGULARITY LOCI OF GOUGH-STEWART MANIPULATOR

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    The problem of identifying the property of singularity loci of Gough-Stewart manipulators is addressed. After constructing the Jacobian matrix of the Gough-Stewart manipulator, a cubic polynomial expression in the mobile platform position parameters, which represents the constantorientation singularity locus of the manipulator, is derived. Graphical representations of the singularity locus of the manipulator for different orientations are illustrated with examples. Further,the singularity locus of the manipulator in the principal-section, where the mobile platform lies, is analyzed. It shows that singularity loci of the manipulator in parallel pfincipal-sections are all quadratic expressions including a parabola, four pairs of intersecting straight lines and infinite hyperbolas. Their geometric and kinematic properties are also researched as well.

  2. Low manipulation prevalence following fast-track total knee arthroplasty

    DEFF Research Database (Denmark)

    Husted, Henrik; Jørgensen, Christoffer C.; Gromov, Kirill

    2015-01-01

    BACKGROUND AND PURPOSE: Postoperative joint stiffness following total knee arthroplasty (TKA) may compromise the outcome and necessitate manipulation. Previous studies have not been in a fast-track setting with optimized pain treatment, early mobilization, and short length of stay (LOS), which may...... have influenced the prevalence of joint stiffness and subsequent manipulation. We investigated the prevalence of manipulation following fast-track TKA and identified patients at risk of needing manipulation. PATIENTS AND METHODS: 3,145 consecutive unselected elective primary unilateral TKA patients...... operated in 6 departments with well-defined fast-track settings were included in the study. Demographic data, prevalence, type and timing of manipulation, and preoperative and postoperative ROM were recorded prospectively, ensuring complete 1-year follow-up. RESULTS: 70 manipulations were performed within...

  3. A large divertor manipulator for ASDEX Upgrade

    Energy Technology Data Exchange (ETDEWEB)

    Herrmann, Albrecht, E-mail: albrecht.herrmann@ipp.mpg.de; Jaksic, Nikola; Leitenstern, Peter; Greuner, Henri; Krieger, Karl; Marné, Pascal de; Oberkofler, Martin; Rohde, Volker; Schall, Gerd

    2015-10-15

    Highlights: • A large divertor manipulator for ASDEX Upgrade is developed and tested. • It allows replacing a relevant part of the divertor by dedicated targets and probes. • Modified solid standard targets. • Electrical and mechanical probes for dedicated investigations. • Test of actively cooled component. - Abstract: In 2013 a new bulk tungsten divertor, Div-III, was installed in ASDEX Upgrade (AUG). During the concept and design phase of Div-III the option of adaptable divertor instrumentation and divertor modification as contribution for divertor investigations in preparation of ITER was given a high priority. To gain flexibility for the test of divertor modifications without affecting the operational space of AUG, the large divertor manipulator, DIM-II, was designed and installed. DIM-II allows to retract 2 out of 128 outer divertor target tiles including the water cooled support structure into a target exchange box and to replace these targets without breaking the vacuum of the AUG vessel. DIM-II is based on a carriage-rail system with a driving rod pushing a front-end with the target module into the divertor position for plasma operation. Three types of front-ends are foreseen for physics investigations: (i) modified standard targets clamped to the standard cooling structure, (ii) dedicated front-ends making use of the whole available volume of about 230 × 160 × 80 mm{sup 3} and (iii) actively cooled/heated targets for cooling water temperatures up to 230 °C. This paper presents the DIM-II design including the FEM calculations for the modified divertor support structure and the front-end options, as well as the test procedure and operation mode.

  4. De la manipulation des images 3D

    Directory of Open Access Journals (Sweden)

    Geneviève Pinçon

    2012-04-01

    Full Text Available Si les technologies 3D livrent un enregistrement précis et pertinent des graphismes pariétaux, elles offrent également des applications particulièrement intéressantes pour leur analyse. À travers des traitements sur nuage de points et des simulations, elles autorisent un large éventail de manipulations touchant autant à l’observation qu’à l’étude des œuvres pariétales. Elles permettent notamment une perception affinée de leur volumétrie, et deviennent des outils de comparaison de formes très utiles dans la reconstruction des chronologies pariétales et dans l’appréhension des analogies entre différents sites. Ces outils analytiques sont ici illustrés par les travaux originaux menés sur les sculptures pariétales des abris du Roc-aux-Sorciers (Angles-sur-l’Anglin, Vienne et de la Chaire-à-Calvin (Mouthiers-sur-Boëme, Charente.If 3D technologies allow an accurate and relevant recording of rock art, they also offer several interesting applications for its analysis. Through spots clouds treatments and simulations, they permit a wide range of manipulations concerning figurations observation and study. Especially, they allow a fine perception of their volumetry. They become efficient tools for forms comparisons, very useful in the reconstruction of graphic ensemble chronologies and for inter-sites analogies. These analytical tools are illustrated by the original works done on the sculptures of Roc-aux-Sorciers (Angles-sur-l’Anglin, Vienne and Chaire-à-Calvin (Mouthiers-sur-Boëme, Charente rock-shelters.

  5. Modelling and control for position-controlled modular robot manipulators

    OpenAIRE

    Shao, Zilong; Zheng, Gang; Efimov, Denis; Perruquetti, Wilfrid

    2015-01-01

    International audience; Modular Robot Manipulators are user-configurable manipulators which provide rapid design and inexpensive implementation. To be easy-use, smart actuators embedded with position input and position feedback controller are adopted, these local controllers render the manipulators position controlled, but also result in limited performance and precision. This paper targets the case that the built-in controller does not provide desirable precision for set-point regulation. Fi...

  6. Robust Control of Underactuated Manipulators: Analysis and Implementation

    Science.gov (United States)

    1994-05-01

    Y Control of mechanical systems with second-order nonholonomic constraints: underactuated manipulators. Proc. of the 30th Conference on Decision and...any of a series of controllers fully developed in the literature for mechanical manipulators. Because the control of such a system is fully dependent...robust controller for underactuated manipulators. The control of such systems can be extended to the control problem of fault-tolerant robots, space

  7. Achievement of a Sense of Operator Presence in Remote Manipulation.

    Science.gov (United States)

    1980-10-01

    Recently researchers at Oakrldge National Laboratory planned to use tactile sensors for remote manipulation of nuclear materials. The sensors were from...its research into improving perfor- mance in manipulation of nuclear materials. This manipulator has not been significantly modified in the past...amount and direction of movement of the compliant endpoint. The photosensi- tive array is produced by Reticon Company, and has a density of 256

  8. Manipulator for rotating and translating a sample holder

    Science.gov (United States)

    van de Water, Jeroen; van den Oetelaar, Johannes; Wagner, Raymond; Slingerland, Hendrik Nicolaas; Bruggers, Jan Willem; Ottevanger, Adriaan Huibert Dirk; Schmid, Andreas; Olson, Eric A.; Petrov, Ivan G.; Donchev, Todor I.; Duden, Thomas

    2011-02-08

    A manipulator for use in e.g. a Transmission Electron Microscope (TEM) is described, said manipulator capable of rotating and translating a sample holder (4). The manipulator clasps the round sample holder between two members (3A, 3B), said members mounted on actuators (2A, 2B). Moving the actuators in the same direction results in a translation of the sample holder, while moving the actuators in opposite directions results in a rotation of the sample holder.

  9. Type synthesis principle of minor-mobility parallel manipulators

    Institute of Scientific and Technical Information of China (English)

    黄真; 李秦川

    2002-01-01

    This paper originally presents a systematic general type synthesis principle of minor-mobility parallel manipulators. Based on the properties and geometrical conditions of structure constraint of minor-mobility parallel manipulators, this principle will be a cornerstone in solving the problem of type synthesis of minor-mobility parallel manipulators. Many mechanisms have been synthesized by this principle, which illustrated the validity and universality of this principle.

  10. Kinematics at the Main Mechanism of a Railbound Forging Manipulator

    Directory of Open Access Journals (Sweden)

    Florian Ion Tiberiu Petrescu

    2015-09-01

    Full Text Available Normal 0 false false false EN-US X-NONE X-NONE MicrosoftInternetExplorer4 Heavy payload forging manipulators are mainly characterized by large load output and large capacitive load input. The relationship between outputs and inputs will greatly influence the control and the reliability. Forging manipulators have become more prevalent in the industry today. They are used to manipulate objects to be forged. The most common forging manipulators are moving on a railway to have a greater precision and stability. They have been called the railbound forging manipulators. In this paper we analyze the general kinematics of the main mechanism from a such manipulator. Kinematic scheme shows a typical forging manipulator, with the basic motions in operation process: walking, motion of the tong and buffering. The lifting mechanism consists of several parts including linkages, hydraulic drives and motion pairs. The principle of type design from the viewpoints of the relationship between output characteristics and actuator inputs is discussed. An idea of establishing the incidence relationship between output characteristics and actuator inputs is proposed. These novel forging manipulators which satisfy certain functional requirements provide an effective help for the design of forging manipulators.

  11. The Kinematics of Manipulators Built From Closed Planar Mechanisms

    CERN Document Server

    Slutski, Leonid; Angeles, Jorge

    1999-01-01

    The paper discusses the kinematics of manipulators builts of planar closed kinematic chains. A special kinematic scheme is extracted from the array of these mechanisms that looks the most promising for the creation of different types of robotic manipulators. The structural features of this manipulator determine a number of its original properties that essentially simplify its control. These features allow the main control problems to be effectively overcome by application of the simple kinematic problems. The workspace and singular configurations of a basic planar manipulator are studied. By using a graphic simulation method, motions of the designed mechanism are examined. A prototype of this mechanism was implemented to verify the proposed approach.

  12. Atlas Based Kinematic Optimum Design of the Stewart Parallel Manipulator

    Institute of Scientific and Technical Information of China (English)

    SHAO Zhufeng; TANG Xiaoqiang; WANG Liping; SUN Dengfeng

    2015-01-01

    Optimum design is a key approach to make full use of potential advantages of a parallel manipulator. The optimum design of multi-parameter parallel manipulators(more than three design parameters), such as Stewart manipulator, relies on analysis based and algorithm based optimum design methods, which fall to be accurate or intuitive. To solve this problem and achieve both accurate and intuition, atlas based optimum design of a general Stewart parallel manipulator is established, with rational selection of design parameters. Based on the defined spherical usable workspace(SUW), primary kinematic performance indices of the Stewart manipulator, involving workspace and condition number are introduced and analyzed. Then, corresponding performance atlases are drawn with the established non-dimensional design space, and impact of joint distribution angles on the manipulator performance is analyzed and illustrated. At last, an example on atlas based optimum design of the Stewart manipulator is accomplished to illustrate the optimum design process, considering the end-effector posture. Deduced atlases can be flexibly applied to both quantitative and qualitative analysis to get the desired optimal design for the Stewart manipulator with respect to related performance requirements. Besides, the established optimum design method can be further applied to other multi-parameter parallel manipulators.

  13. Singularities Analysis of Paradoxical Mechanism and Parallel Manipulators

    Institute of Scientific and Technical Information of China (English)

    HAO Kuang-rong

    2006-01-01

    Parallel manipulator is associated with a set of functions defined by its closure constraints. In this paper, using Lie algebra method, we provide a study on the singularities of parallel manipulators, their relations with the second order of the closure functions, and the tangent space of the configuration space of the manipulator. The transverse condition criterion is applied to analyze the behavior of the singularities. This gives a downright explication why the 6R paradoxical mechanisms work in their singular configurations, and allows to gain insight on configuration space singularities and to choose the adequate design parameters for the parallel manipulator.

  14. Controlled manipulation of nanoparticles with an atomic force microscope

    Science.gov (United States)

    Junno, T.; Deppert, K.; Montelius, L.; Samuelson, L.

    1995-06-01

    We report on the application of the atomic force microscope (AFM) to manipulate and position nanometer-sized particles with nanometer precision. The technique, which can be regarded as a nanometer-scale analogy to atomic level manipulation with the scanning tunneling microscope, allowed us to form arbitrary nanostructures, under ambient conditions, by controlled manipulation of individual 30 nm GaAs particles. A whole new set of nanodevices can be fabricated particle-by-particle for studies of quantum effects and single electron tunneling. We also demonstrate a method, based on the AFM manipulation, to determine the true lateral dimensions of nano-objects, in spite of the tip-sample convolution.

  15. Manipulating colloids with charges and electric fields

    Science.gov (United States)

    Leunissen, M. E.

    2007-02-01

    This thesis presents the results of experimental investigations on a variety of colloidal suspensions. Colloidal particles are at least a hundred times larger than atoms or molecules, but suspended in a liquid they display the same phase behavior, including fluid and crystalline phases. Due to their relatively large size, colloids are much easier to investigate and manipulate, though. This makes them excellent condensed matter model systems. With this in mind, we studied micrometer-sized perspex (‘PMMA’) spheres, labeled with a fluorescent dye for high-resolution confocal microscopy imaging, and suspended in a low-polar mixture of the organic solvents cyclohexyl bromide and cis-decalin. This system offered us the flexibility to change the interactions between the particles from ‘hard-sphere-like’ to long-ranged repulsive (between like-charged particles), long-ranged attractive (between oppositely charged particles) and dipolar (in an electric field). We investigated the phase behavior of our suspensions as a function of the particle concentration, the ionic strength of the solvent and the particles’ charges. In this way, we obtained new insight in the freezing and melting behavior of like-charged and oppositely charged colloids. Interestingly, we found that the latter can readily form large crystals, thus defying the common belief that plus-minus interactions inevitably lead to aggregation. Moreover, we demonstrated that these systems can serve as a reliable model system for classical ionic matter (‘salts’), and that opposite-charge interactions can greatly facilitate the self-assembly of new structures with special properties for applications. On a slightly different note, we also studied electrostatic effects in mixtures of the cyclohexyl bromide solvent and water, both with and without colloidal particles present. This provided new insight in the stabilization mechanisms of oil-water emulsions and gave us control over the self-assembly of various

  16. Intraoperative Manipulation for Flexion Contracture During Total Knee Arthroplasty.

    Science.gov (United States)

    Matsui, Yoshio; Minoda, Yukihide; Fumiaki, Inori; Nakagawa, Sigeru; Okajima, Yoshiaki; Kobayashi, Akio

    2016-11-01

    Joint gap balancing during total knee arthroplasty (TKA) is important for ensuring postoperative joint stability and range of motion. Although the joint gap should be balanced to ensure joint stability, it is not easy to achieve perfect balancing during TKA. In particular, relative extension gap shortening can induce flexion contracture. Intraoperative manipulation is often empirically performed. This study evaluated the tension required for this manipulation and investigated the influence of intraoperative manipulation on the joint gap in cadaveric knees. Total knee arthroplasty was performed in 6 cadaveric knees from whole body cadavers. Flexion contracture was induced using an insert that was 4 mm thicker than the extension gap, and intraoperative manipulation was performed. Study measurements included the changes in the joint gap after manipulation at 6 positions, with the knee bending from extension to 120° flexion, and the manipulation tension that was required to create a 4-mm increase in the gap. The manipulation tension needed to create a 4-mm increase in the extension gap was 303±17 N. The changes in the joint gap after manipulation were 0.4 mm, 0.6 mm, 0.2 mm, -0.2 mm, -0.4 mm, and -0.6 mm at 0°, 30°, 45°, 60°, 90°, and 120° flexion, respectively. Therefore, the joint gap was not significantly changed by the manipulation. Intraoperative manipulation does not resolve flexion contracture. Therefore, if flexion contracture occurs during TKA, treatment with additional bone cutting and soft tissue release is likely more appropriate than manipulation. [Orthopedics. 2016; 39(6):e1070-e1074.]. Copyright 2016, SLACK Incorporated.

  17. Taking behavioralism seriously: some evidence of market manipulation.

    Science.gov (United States)

    Hanson, J D; Kysar, D A

    1999-05-01

    Over the last ten to fifteen years, economists and legal scholars have become increasingly interested in and sensitive to behavioralist insights. In a companion article, Jon Hanson and Douglas Kysar argued that those scholars have nevertheless given short shrift to what is, at least for policymaking purposes, perhaps the most important lesson of the behavioralist research: individuals' perceptions and preferences are highly manipulable. According to Hanson and Kysar, one theoretical implication of that insight for products liability law is that manufacturers and marketers will manipulate the risk perceptions of consumers. Indeed, to survive in a competitive market, manufacturers and marketers must do so. In this Article, Hanson and Kysar present empirical evidence of market manipulation--a previously unrecognized source of market failure. The Article begins by surveying the extensive qualitative and quantitative marketing research and consumer behavioral studies that discern and influence consumer perceptions. It then provides evidence of market manipulation by reviewing common practices in everyday market settings, such as gas stations and supermarkets, and by examining familiar marketing approaches, such as environmentally oriented and fear-based advertising. Although consumers may be well-aware of those practices and approaches, they appear to be generally unaware of the extent to which those tactics are manipulative. The Article then focuses on the industry that has most depended upon market manipulation: the cigarette industry. Through decades of sophisticated marketing and public relations efforts, cigarette manufacturers have heightened consumer demand and lowered consumer risk perceptions. Because consumers are aware that smoking may pose significant health risks, the tobacco industry's success in manipulating risk perceptions constitutes especially strong evidence of the power of market manipulation. The Article concludes by arguing that the evidence of

  18. Bilateral and multiple cavitation sounds during upper cervical thrust manipulation

    Directory of Open Access Journals (Sweden)

    Dunning James

    2013-01-01

    Full Text Available Abstract Background The popping produced during high-velocity, low-amplitude (HVLA thrust manipulation is a common sound; however to our knowledge, no study has previously investigated the location of cavitation sounds during manipulation of the upper cervical spine. The primary purpose was to determine which side of the spine cavitates during C1-2 rotatory HVLA thrust manipulation. Secondary aims were to calculate the average number of pops, the duration of upper cervical thrust manipulation, and the duration of a single cavitation. Methods Nineteen asymptomatic participants received two upper cervical thrust manipulations targeting the right and left C1-2 articulation, respectively. Skin mounted microphones were secured bilaterally over the transverse process of C1, and sound wave signals were recorded. Identification of the side, duration, and number of popping sounds were determined by simultaneous analysis of spectrograms with audio feedback using custom software developed in Matlab. Results Bilateral popping sounds were detected in 34 (91.9% of 37 manipulations while unilateral popping sounds were detected in just 3 (8.1% manipulations; that is, cavitation was significantly (P Conclusions Cavitation was significantly more likely to occur bilaterally than unilaterally during upper cervical HVLA thrust manipulation. Most subjects produced 3–4 pops during a single rotatory HVLA thrust manipulation targeting the right or left C1-2 articulation; therefore, practitioners of spinal manipulative therapy should expect multiple popping sounds when performing upper cervical thrust manipulation to the atlanto-axial joint. Furthermore, the traditional manual therapy approach of targeting a single ipsilateral or contralateral facet joint in the upper cervical spine may not be realistic.

  19. Combined Position & Force Control for a robotic manipulator

    NARCIS (Netherlands)

    Sijs, J.; Liefhebber, F.; Römer, G.W.R.B.E.

    2007-01-01

    The ARM is a 6 DOF robotic manipulator used by disabled people with a severe handicap at the upper extremities The present ARM is position and velocity controlled. The desired position of the robot is given by the user. However, in constraint scenario's, manipulation becomes too difficult and an ass

  20. Manipulable objects facilitate cross-modal integration in peripersonal space.

    Directory of Open Access Journals (Sweden)

    Michiel van Elk

    Full Text Available Previous studies have shown that tool use often modifies one's peripersonal space--i.e. the space directly surrounding our body. Given our profound experience with manipulable objects (e.g. a toothbrush, a comb or a teapot in the present study we hypothesized that the observation of pictures representing manipulable objects would result in a remapping of peripersonal space as well. Subjects were required to report the location of vibrotactile stimuli delivered to the right hand, while ignoring visual distractors superimposed on pictures representing everyday objects. Pictures could represent objects that were of high manipulability (e.g. a cell phone, medium manipulability (e.g. a soap dispenser and low manipulability (e.g. a computer screen. In the first experiment, when subjects attended to the action associated with the objects, a strong cross-modal congruency effect (CCE was observed for pictures representing medium and high manipulability objects, reflected in faster reaction times if the vibrotactile stimulus and the visual distractor were in the same location, whereas no CCE was observed for low manipulability objects. This finding was replicated in a second experiment in which subjects attended to the visual properties of the objects. These findings suggest that the observation of manipulable objects facilitates cross-modal integration in peripersonal space.

  1. Design and Transmission Analysis of an Asymmetrical Spherical Parallel Manipulator

    DEFF Research Database (Denmark)

    Wu, Guanglei; Caro, Stéphane; Wang, Jiawei

    2015-01-01

    This paper presents an asymmetrical spherical parallel manipulator and its transmissibility analysis. This manipulator contains a center shaft to both generate a decoupled unlimited-torsion motion and support the mobile platform for high positioning accuracy. This work addresses the transmission ...

  2. Intelligent Control of Flexible-Joint Robotic Manipulators

    Science.gov (United States)

    Colbaugh, R.; Gallegos, G.

    1997-01-01

    This paper considers the trajectory tracking problem for uncertain rigid-link. flexible.joint manipulators, and presents a new intelligent controller as a solution to this problem. The proposed control strategy is simple and computationally efficient, requires little information concerning either the manipulator or actuator/transmission models and ensures uniform boundedness of all signals and arbitrarily accurate task-space trajectory tracking.

  3. Developing an aerial manipulator prototype: physical interaction with the environment

    NARCIS (Netherlands)

    Fumagalli, Matteo; Naldi, Roberto; Macchelli, Alessandro; Forte, Francesco; Keemink, Arvid Q.L.; Stramigioli, Stefano; Carloni, Raffaella; Marconi, Lorenzo

    2014-01-01

    This article focuses on the design, modeling, and control of an aerial manipulator prototype, i.e., an innovative configuration consisting of a miniature quadrotor helicopter endowed with a robotic manipulator. The overall system is designed to accomplish operations that require physical interaction

  4. Integrating Concrete and Virtual Manipulatives in Early Childhood Mathematics

    Science.gov (United States)

    Rosen, Dina; Hoffman, Jo

    2009-01-01

    Early childhood teachers around the country and the world guide children's mathematical learning through the use of manipulatives--pattern blocks, base blocks, geoboards, Unifx cubes, Cuisenaire rods, coins, clocks, and so on. Manipulatives allow concrete, hands-on exploration and representation of mathematical concepts. In the past few years,…

  5. Do Managers Manipulate Earnings Prior to Management Buyouts?

    NARCIS (Netherlands)

    Mao, Y.; Renneboog, L.D.R.

    2013-01-01

    Abstract: To address the question as to whether managers manipulate accounting numbers downwards prior to management buyouts (MBOs), we implement an industry-adjusted buyout-specific approach and receive an affirmative answer. In UK buyout companies, negative earnings manipulation (understating the

  6. Dynamic Coordination Of A Two-Arm Robotic Manipulator

    Science.gov (United States)

    Lee, Sukhan; Kim, Sungbok

    1994-01-01

    Report presents study of dynamical and kinematical considerations guiding selection of configuration of self-reconfigurable, two-arm robotic manipulator. Two multiple-link arms cooperate in manipulating single object, reconfiguring their mutual, cooperative structure according to changing task requirements.

  7. Combined Position & Force Control for a robotic manipulator

    NARCIS (Netherlands)

    Sijs, J.; Liefhebber, F.; Römer, G.W.R.B.E.

    2007-01-01

    The ARM is a 6 DOF robotic manipulator used by disabled people with a severe handicap at the upper extremities The present ARM is position and velocity controlled. The desired position of the robot is given by the user. However, in constraint scenario's, manipulation becomes too difficult and an

  8. Do Managers Manipulate Earnings Prior to Management Buyouts?

    NARCIS (Netherlands)

    Mao, Y.; Renneboog, L.D.R.

    2013-01-01

    Abstract: To address the question as to whether managers manipulate accounting numbers downwards prior to management buyouts (MBOs), we implement an industry-adjusted buyout-specific approach and receive an affirmative answer. In UK buyout companies, negative earnings manipulation (understating the

  9. Dynamic modeling of the manipulator RD5NT

    Directory of Open Access Journals (Sweden)

    Eduardo Monteiro Aguiar

    2015-05-01

    Full Text Available This article presents the development of a dynamicmathematical model for the DIDACTA ITALIARD5NT manipulator. The model is intendedto be used in the development of strategies ofposition-trajectory control. The choice modelingtype aims at identifying the physical parametersof the manipulator.

  10. 19 CFR 19.32 - Wheat manipulation; reconditioning.

    Science.gov (United States)

    2010-04-01

    ... 19 Customs Duties 1 2010-04-01 2010-04-01 false Wheat manipulation; reconditioning. 19.32 Section... Bonded for the Storage of Wheat § 19.32 Wheat manipulation; reconditioning. (a) The mixing, blending, or commingling of imported wheat and domestic wheat, or of imported wheat of different classes and grades, as...

  11. Rehabilitation Effect of Exercise with Soft Tissue Manipulation in ...

    African Journals Online (AJOL)

    2017-05-22

    May 22, 2017 ... manipulation therapy for patients with lumbar muscle strain. Methods: Patients with lumbar ... Nigerian Journal of Clinical Practice ¦ Volume 20 ¦ Issue 5 ¦ May 2017 .... pain, relieve muscle spasms of soft tissue, improve lumbar muscle .... Zhang L. Clinical study of acupuncture and soft tissue manipulation ...

  12. Dynamic stabilization methods for bilateral control of remote manipulation

    Science.gov (United States)

    Handlykken, M.

    1982-01-01

    This paper discusses and analyses several control strategies for generalized, bilateral master/slave manipulator systems. In these manipulators the two arms have different dynamic/kinematic properties which implies a more difficult control problem. Attention is focused on torque/force driven arms. Required performance for the necessary control computer(s) is discussed.

  13. SOLVING INVERSE KINEMATICS OF REDUNDANT MANIPULATOR BASED ON NEURAL NETWORK

    Institute of Scientific and Technical Information of China (English)

    2003-01-01

    For the redundant manipulators, neural network is used to tackle the velocity inverse kinematics of robot manipulators. The neural networks utilized are multi-layered perceptions with a back-propagation training algorithm. The weight table is used to save the weights solving the inverse kinematics based on the different optimization performance criteria. Simulations verify the effectiveness of using neural network.

  14. Configuration Synthesis and Efficient Motion Programming of Robot Manipulators

    Science.gov (United States)

    1991-03-15

    pensation. 14. SUBJECT TERMS 15, NUMBER OF PAGES ?v’Yv .c , Robot Kinematics, Robot Dynamics , Robot Parameters, Numerical Methods, Jacobians :S. PRICE...The first order differential analysis of the manipulator is a basic step in robot dynamics and control. The velocity Jacobian of the manipulator

  15. Learning to Manipulate and Categorize in Human and Artificial Agents

    Science.gov (United States)

    Morlino, Giuseppe; Gianelli, Claudia; Borghi, Anna M.; Nolfi, Stefano

    2015-01-01

    This study investigates the acquisition of integrated object manipulation and categorization abilities through a series of experiments in which human adults and artificial agents were asked to learn to manipulate two-dimensional objects that varied in shape, color, weight, and color intensity. The analysis of the obtained results and the…

  16. Trapping and manipulating single molecules of DNA

    Science.gov (United States)

    Shon, Min Ju

    This thesis presents the development and application of nanoscale techniques to trap and manipulate biomolecules, with a focus on DNA. These methods combine single-molecule microscopy and nano- and micro-fabrication to study biophysical properties of DNA and proteins. The Dimple Machine is a lab-on-a-chip device that can isolate and confine a small number of molecules from a bulk solution. It traps molecules in nanofabricated chambers, or "dimples", and the trapped molecules are then studied on a fluorescence microscope at the single-molecule level. The sampling of bulk solution by dimples is representative, reproducible, and automated, enabling highthroughput single-molecule experiments. The device was applied to study hybridization of oligonucleotides, particularly in the context of reaction thermodynamics and kinetics in nanoconfinement. The DNA Pulley is a system to study protein binding and the local mechanical properties of DNA. A molecule of DNA is tethered to a surface on one end, and a superparamagnetic bead is attached to the other. A magnet pulls the DNA taut, and a silicon nitride knife with a nanoscale blade scans the DNA along its contour. Information on the local properties of the DNA is extracted by tracking the bead with nanometer precision in a white-light microscope. The system can detect proteins bound to DNA and localize their recognition sites, as shown with a model protein, EcoRI restriction enzyme. Progress on the measurements of nano-mechanical properties of DNA is included.

  17. Manipulation of light with α transformation media.

    Science.gov (United States)

    Yan, Wei; Yan, Min; Qiu, Min

    2011-06-01

    A type of transformation media called α media is proposed by performing a direct transformation to the metric tensor of another kind of media, called seed media. Light rays in an α medium correlate to those in its seed medium through a simple displacement or rotation relation. Three types of commonly encountered anisotropic media are covered by the concept of α media: (1) media of slab shape, having continuous translational symmetry with respect to two Cartesian coordinate components; (2) media of cylindrical shape, having cylindrical rotational symmetry and continuous translational symmetry along the longitudinal direction; (3) media of spherical shape, having spherical rotational symmetry, with two principal axes along the symmetry directions, and with the material parameters in the same sign. Optical properties of such media can be effectively interpreted through recalling the properties of certain isotropic media, i.e., their seed media. Conversely, from simple isotropic media in which light trajectories are well known, one can design α media for manipulating light. Based on this fact, several optical devices, including frequency demultiplexers, beam splitters, focusing lenses, and radiation controllers, are designed and numerically verified. The famed invisibility cloak derived from a conventional coordinate transformation is revisited from the α media perspective.

  18. Manipulation and quantification of microtubule lattice integrity

    Directory of Open Access Journals (Sweden)

    Taylor A. Reid

    2017-08-01

    Full Text Available Microtubules are structural polymers that participate in a wide range of cellular functions. The addition and loss of tubulin subunits allows the microtubule to grow and shorten, as well as to develop and repair defects and gaps in its cylindrical lattice. These lattice defects act to modulate the interactions of microtubules with molecular motors and other microtubule-associated proteins. Therefore, tools to control and measure microtubule lattice structure will be invaluable for developing a quantitative understanding of how the structural state of the microtubule lattice may regulate its interactions with other proteins. In this work, we manipulated the lattice integrity of in vitro microtubules to create pools of microtubules with common nucleotide states, but with variations in structural states. We then developed a series of novel semi-automated analysis tools for both fluorescence and electron microscopy experiments to quantify the type and severity of alterations in microtubule lattice integrity. These techniques will enable new investigations that explore the role of microtubule lattice structure in interactions with microtubule-associated proteins.

  19. Manipulator Report for Pacific Northwest 2016

    Energy Technology Data Exchange (ETDEWEB)

    Lawton, Cindy M. [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

    2009-03-23

    An initial ergonomic evaluation of the manipulators in was performed in 2007 and again in 2008. Discussion and solution development was performed with the new management team, FLM, and the employee on March 23, 2009. The purpose of this evaluation was to identify improvements to reduce stress and risk of injury to the employees. The primary ergonomic related risk factors identified include static and awkward postures especially for the wrist, and repetitive motion of fine motor musculature of the hand and forearm depending on the work load. This memorandum is intended as a starting point to reduce the ergonomic-related risk factors present in this process. All risk factors were probably not identified during this initial evaluation due to limited task demonstrations. The solution development and implementation process is a team effort. The Ergonomics Team provides technical support and guidance; employees demonstrate tasks, provide ideas, and test and provide feedback on potential solutions; and management provides the resources and encourages participation in the process.

  20. Improving information filtering via network manipulation

    Science.gov (United States)

    Zhang, Fuguo; Zeng, An

    2012-12-01

    The recommender system is a very promising way to address the problem of overabundant information for online users. Although the information filtering for the online commercial systems has received much attention recently, almost all of the previous works are dedicated to design new algorithms and consider the user-item bipartite networks as given and constant information. However, many problems for recommender systems such as the cold-start problem (i.e., low recommendation accuracy for the small-degree items) are actually due to the limitation of the underlying user-item bipartite networks. In this letter, we propose a strategy to enhance the performance of the already existing recommendation algorithms by directly manipulating the user-item bipartite networks, namely adding some virtual connections to the networks. Numerical analyses on two benchmark data sets, MovieLens and Netflix, show that our method can remarkably improves the recommendation performance. Specifically, it not only improves the recommendations accuracy (especially for the small-degree items), but also helps the recommender systems generate more diverse and novel recommendations.

  1. Altering the SNR by noise manipulation

    Science.gov (United States)

    Rafailov, Michael K.

    2000-12-01

    Irradiation of a photodetector by very short pulses is presented as the primary and perhaps the only remote technology for altering the SNR. Such noise manipulation will decrease the SNR value for certain types of common MIR and LWIR photodetectors. The effect is based on the differences between carrier lifetime, detector material heat transfer rate and altering pulse dwell time. When the pulse width is much less than photodetector rise time, most of the photons cannot generate free carriers, but only heat. Since the heat transfer rate in semiconductors is much slower than carrier's lifetime, high temperature will affect the detector much longer than common input signal correlation length or frame period. We describe thermal, radiometric and electronic circuit models developed to simulate the transfer of short pulses of time-dependent radiant and electrical signals through a photodetector during the alteration. The models are developed to provide an analysis tool for evaluating the time-dependent radiometric sensitivity for the remote gain control of IR photodetectors.

  2. Hybrid Opto-electric Manipulation of Macromolecules

    Science.gov (United States)

    Wereley, Steve

    2013-11-01

    Recently our research group has developed an innovative method for capturing, concentrating, manipulating and sorting populations of micro- and nanometer-scaled entities-particles, cells, macro-molecules, etc. These populations range from individual particles to thousands of particles (Lab-on-a-Chip, 2008; Microfluidics and Nanofluidics, 2008) while the sizes range from microns to nanometers. This novel technique combines features of optical trapping and dielectrophoresis in an innovative, dynamic way using a simple parallel plate electrode configuration. Transparent electrodes comprised of Indium Tin Oxide (ITO) on glass substrates are used to generate an electric field in the fluid while at the same time allowing light into and out of the fluid. Near-IR optical illumination causes subtle localized heating, creating an electric permittivity gradient that in turn drives a microscopic toroidal vortex. The vortex efficiently transports particles to a preferred location, usually the surface of the electrode. Recent advances have extended have allowed us to apply this technique to macromolecules (DNA, proteins) as well as nanoscale particles (quantum dots, nanowires and PSL particles).

  3. Gate manipulation of DNA capture into nanopores.

    Science.gov (United States)

    He, Yuhui; Tsutsui, Makusu; Fan, Chun; Taniguchi, Masateru; Kawai, Tomoji

    2011-10-25

    Understanding biophysics governing DNA capture into a nanopore and establishing a manipulation system for the capture process are essential for nanopore-based genome sequencing. In this work, the functionality of extended electric field and electroosmotic flow (EOF) during the capture stage and their dependence on gate voltage, U(G), are investigated. We demonstrate that while both the electric field and EOF within a cis chamber make long-distance contributions to DNA capture around the pore mouth, the former effect is always capturing, while the latter causes trapping or blocking of the molecule depending on the magnitude of the gate voltage, U(G): an anionic EOF induced by high U(G) is capable of doubling the DNA trapping speed and thus the absorption radius in the cis chamber, whereas a cationic EOF by low U(G) would substantially offset the trapping effort by the electric field and even totally block DNA entrance into the pore. Based on the analysis, a gate regulation is proposed with the objective of achieving a high DNA capture rate while maintaining a low error rate.

  4. Decentralized adaptive fuzzy control of robot manipulators.

    Science.gov (United States)

    Jin, Y

    1998-01-01

    This paper develops a decentralized adaptive fuzzy control scheme for robot manipulators via a combination of genetic algorithm and gradient method. The controller for each link consists of a feedforward fuzzy torque-computing system and a feedback fuzzy PD system. The feedforward fuzzy system is trained and optimized off-line by an improved genetic algorithm, that is to say, not only the parameters but also the structure of the fuzzy system are self-organized. Because genetic algorithm can operate successfully without the system model, no exact inverse dynamics of the robot system are required. The feedback fuzzy PD system, on the other hand, is tuned on-line using gradient method. In this way, the proportional and derivative gains are adjusted properly to keep the closed-loop system stable. The proposed controller has the following merits: (1) it needs no exact dynamics of the robot systems and the computation is time-saving because of the simple structure of the fuzzy systems; and (2) the controller is insensitive to various dynamics and payload uncertainties in robot systems. These are demonstrated by analyses of the computational complexity and various computer simulations.

  5. Automated Fictional Ideation via Knowledge Base Manipulation.

    Science.gov (United States)

    Llano, Maria Teresa; Colton, Simon; Hepworth, Rose; Gow, Jeremy

    The invention of fictional ideas (ideation) is often a central process in the creative production of artefacts such as poems, music and paintings, but has barely been studied in the computational creativity community. We present here a general approach to automated fictional ideation that works by manipulating facts specified in knowledge bases. More specifically, we specify a number of constructions which, by altering and combining facts from a knowledge base, result in the generation of fictions. Moreover, we present an instantiation of these constructions through the use of ConceptNet, a database of common sense knowledge. In order to evaluate the success of these constructions, we present a curation analysis that calculates the proportion of ideas which pass a typicality judgement. We further evaluate the output of this approach through a crowd-sourcing experiment in which participants were asked to rank ideas. We found a positive correlation between the participant's rankings and a chaining inference technique that automatically assesses the value of the fictions generated through our approach. We believe that these results show that this approach constitutes a firm basis for automated fictional ideation with evaluative capacity.

  6. Compound droplet manipulations on fiber arrays

    Science.gov (United States)

    Weyer, Floriane; Lismont, Marjorie; Dreesen, Laurent; Vandewalle, Nicolas

    2014-11-01

    Recent works demonstrated that fibers are the basis of an open digital microfluidics. Indeed, various processes such as droplet motion, fragmentation, trapping, releasing, mixing and encapsulation can be constructed on fiber arrays. However, addressing a large number of tiny droplets resulting from the mixing of several liquid components is still a challenge. Here we show that it is possible to manipulate tiny droplets reaching a high level of complexity. Wetting droplets are known to glide along vertical fibers. When a droplet reaches an horizontal fiber, it sticks at the crossing if capillary overcomes gravity. Otherwise, the droplet continues its way, crosses the node and leaves a tiny residue. Therefore, a vertical fiber decorated with a series of horizontal fibers will retain residual droplets at the successive nodes. An oil droplet, sliding on the vertical fiber, is able to collect the residues. Thus a multicompound droplet is created. The volume of the residual droplets has been studied and seems to be related to the diameters of both vertical and horizontal fibers. Moreover, the conditions under which the residues are released have been investigated in order to understand the formation of such a fluidic object. F. Weyer is financially supported by an FNRS grant. This work is also supported by the FRFC 2.4504.12.

  7. Translation and Manipulation in Renaissance England

    Directory of Open Access Journals (Sweden)

    John Denton

    2016-12-01

    Full Text Available This supplementary volume to JEMS is part of an ongoing research project which began with a series of articles published by the author in the 1990s on the translation of Classical historical texts in Renaissance England. The methodology followed is that of Descriptive Translation Studies as developed by scholars such as Lefevere and Hermans with the accent on manipulation of the source text in line with the ideological stance of the translator and the need to ensure that readers of the translation received the ‘correct’ moral lessons.  Particular attention is devoted to a case study of the strategies followed in Thomas North’s domesticating English translation of Jacques Amyot’s French translation of Plutarch’s Lives and the consequences for Shakespeare’s perception of Plutarch.Biography John Denton was associate professor of English Language and Translation at the University of Florence until retirement in 2015. He  has published on contrastive analysis, history of translation (with special reference to the Early Modern England, religious discourse, literary and audiovisual translation. 

  8. Manipulation of Dirac Cones in Mechanical Graphene

    Science.gov (United States)

    Kariyado, Toshikaze; Hatsugai, Yasuhiro

    2015-12-01

    Recently, quantum Hall state analogs in classical mechanics attract much attention from topological points of view. Topology is not only for mathematicians but also quite useful in a quantum world. Further it even governs the Newton’s law of motion. One of the advantages of classical systems over solid state materials is its clear controllability. Here we investigate mechanical graphene, which is a spring-mass model with the honeycomb structure as a typical mechanical model with nontrivial topological phenomena. The vibration spectrum of mechanical graphene is characterized by Dirac cones serving as sources of topological nontriviality. We find that the spectrum has dramatic dependence on the spring tension at equilibrium as a natural control parameter, i.e., creation and annihilation of the Dirac particles are realized as the tension increases. Just by rotating the system, the manipulated Dirac particles lead to topological transition, i.e., a jump of the “Chern number” occurs associated with flipping of propagating direction of chiral edge modes. This is a bulk-edge correspondence governed by the Newton’s law. A simple observation that in-gap edge modes exist only at the fixed boundary, but not at the free one, is attributed to the symmetry protection of topological phases.

  9. Manipulating Spin-Orbit Interaction in Semiconductors

    Science.gov (United States)

    Kohda, Makoto; Bergsten, Tobias; Nitta, Junsaku

    2008-03-01

    Spin-orbit interaction (SOI), where the orbital motion of electrons is coupled with the orientation of electron spins, originates from a relativistic effect. Generally, in nonrelativistic momentum, p = \\hbar k≪ m0c, the SOI is negligible. However, in a semiconductor heterostructure, the small energy-band gap (Eg ≪ m0c2) and the electron wave modulated by the atomic core potential markedly enhance the SOI. Since the SOI acts as an effective magnetic field, it may offer novel functionalities for controlling the spin degree of freedom such as the electrical spin generation and the electrical control of the spin precession in a semiconductor heterojunction. Here, we review recent experimental studies on the manipulation of the SOI in a semiconductor two-dimensional electron gas. We first present a theoretical overview of the Rashba SOI, which lifts the spin degeneracy due to structural inversion asymmetry. We then present experimental results on the quantum well (QW) thickness dependences of the Rashba SOI in InP/InGaAs/InAlAs asymmetric QWs by analyzing the weak antilocalization. Finally, we show quantum interference effects due to the spin precession in a small array of mesoscopic InGaAs rings, which is an experimental demonstration of the time-reversal Aharonov-Casher effect and the electromagnetic dual to the Al’tshuler-Aronov-Spivak effect.

  10. Correcting mitochondrial fusion by manipulating mitofusin conformations

    Science.gov (United States)

    Franco, Antonietta; Kitsis, Richard N.; Fleischer, Julie A.; Gavathiotis, Evripidis; Kornfeld, Opher S.; Gong, Guohua; Biris, Nikolaos; Benz, Ann; Qvit, Nir; Donnelly, Sara K; Chen, Yun; Mennerick, Steven; Hodgson, Louis; Mochly-Rosen, Daria; Dorn, Gerald W

    2017-01-01

    Summary Mitochondria are dynamic organelles, remodeling and exchanging contents during cyclic fusion and fission. Genetic mutations of mitofusin (Mfn) 2 interrupt mitochondrial fusion and cause the untreatable neurodegenerative condition, Charcot Marie Tooth disease type 2A (CMT2A). It has not been possible to directly modulate mitochondrial fusion, in part because the structural basis of mitofusin function is incompletely understood. Here we show that mitofusins adopt either a fusion-constrained or fusion-permissive molecular conformation directed by specific intramolecular binding interactions, and demonstrate that mitofusin-dependent mitochondrial fusion can be regulated by targeting these conformational transitions. Based on this model we engineered a cell-permeant minipeptide to destabilize fusion-constrained mitofusin and promote the fusion-permissive conformation, reversing mitochondrial abnormalities in cultured fibroblasts and neurons harboring CMT2A gene defects. The relationship between mitofusin conformational plasticity and mitochondrial dynamism uncovers a central mechanism regulating mitochondrial fusion whose manipulation can correct mitochondrial pathology triggered by defective or imbalanced mitochondrial dynamics. PMID:27775718

  11. Tendon-driven manipulators: Analysis, synthesis, and control

    Science.gov (United States)

    Lee, Jyh-Jone

    As the development of light-weight, small volume, and versatile manipulators has grown in the field of robotics, the need for more efficient and relevant power transmission systems in the manipulators has become increasingly apparent. It is clear that the advent of efficient, low friction, and backlash-free actuation systems promises to provide significant gains in manipulator performance. Tendon transmission has been widely used to actuate small volume and light-weight articulated manipulators, such as dextrous mechanical hands, for it permits actuators to be installed remotely from the end-effector, thus reducing the bulk and inertia of the manipulator system. Current research on such actuation systems is accomplished on the basis of specialized designs. The lack of systematic approaches has limited our scope in realizing performance of such transmission systems. Therefore, when associated with systematic methodologies, the study of tendon-driven manipulators promises to be of major importance in the field of robotics. This dissertation is concerned with four issues to enhance our use and understanding of tendon-driven manipulators. First, a systematic approach for the kinematics analysis of tendon-driven manipulators is established. A graph is used to represent the kinematic structure of tendon-driven manipulators. It is shown that the kinematic structure of tendon-driven manipulators is in every way similar to that of epicyclic gear trains. The fundamental circuit equation developed for the kinematic analysis of epicyclic gear trains can thus be applied to this type of mechanism. The displacement equation governing joint angle space and tendon space can easily be obtained. Secondly, the concept of structural isomorphism and the structural characteristics of tendon-driven manipulators are investigated. Based on the explored properties, a methodology for the enumeration of tendon-driven manipulators is developed. By applying the methodology, a class of kinematic

  12. Bilateral and multiple cavitation sounds during upper cervical thrust manipulation.

    Science.gov (United States)

    Dunning, James; Mourad, Firas; Barbero, Marco; Leoni, Diego; Cescon, Corrado; Butts, Raymond

    2013-01-15

    The popping produced during high-velocity, low-amplitude (HVLA) thrust manipulation is a common sound; however to our knowledge, no study has previously investigated the location of cavitation sounds during manipulation of the upper cervical spine. The primary purpose was to determine which side of the spine cavitates during C1-2 rotatory HVLA thrust manipulation. Secondary aims were to calculate the average number of pops, the duration of upper cervical thrust manipulation, and the duration of a single cavitation. Nineteen asymptomatic participants received two upper cervical thrust manipulations targeting the right and left C1-2 articulation, respectively. Skin mounted microphones were secured bilaterally over the transverse process of C1, and sound wave signals were recorded. Identification of the side, duration, and number of popping sounds were determined by simultaneous analysis of spectrograms with audio feedback using custom software developed in Matlab. Bilateral popping sounds were detected in 34 (91.9%) of 37 manipulations while unilateral popping sounds were detected in just 3 (8.1%) manipulations; that is, cavitation was significantly (P thrust manipulation was 3.57 (95% CI: 3.19, 3.94) and the mean number of pops per subject following both right and left C1-2 thrust manipulations was 6.95 (95% CI: 6.11, 7.79). The mean duration of a single audible pop was 5.66 ms (95% CI: 5.36, 5.96) and the mean duration of a single manipulation was 96.95 ms (95% CI: 57.20, 136.71). Cavitation was significantly more likely to occur bilaterally than unilaterally during upper cervical HVLA thrust manipulation. Most subjects produced 3-4 pops during a single rotatory HVLA thrust manipulation targeting the right or left C1-2 articulation; therefore, practitioners of spinal manipulative therapy should expect multiple popping sounds when performing upper cervical thrust manipulation to the atlanto-axial joint. Furthermore, the traditional manual therapy approach of

  13. Implementation of vision based 2-DOF underwater Manipulator

    Directory of Open Access Journals (Sweden)

    Geng Jinpeng

    2015-01-01

    Full Text Available Manipulator is of vital importance to the remotely operated vehicle (ROV, especially when it works in the nuclear reactor pool. Two degrees of freedom (2-DOF underwater manipulator is designed to the ROV, which is composed of control cabinet, buoyancy module, propellers, depth gauge, sonar, a monocular camera and other attitude sensors. The manipulator can be used to salvage small parts like bolts and nuts to accelerate the progress of the overhaul. It can move in the vertical direction alone through the control of the second joint, and can grab object using its unique designed gripper. A monocular vision based localization algorithm is applied to help the manipulator work independently and intelligently. Eventually, field experiment is conducted in the swimming pool to verify the effectiveness of the manipulator and the monocular vision based algorithm.

  14. A spatial operator algebra for manipulator modeling and control

    Science.gov (United States)

    Rodriguez, G.; Kreutz, K.; Milman, M.

    1988-01-01

    A powerful new spatial operator algebra for modeling, control, and trajectory design of manipulators is discussed along with its implementation in the Ada programming language. Applications of this algebra to robotics include an operator representation of the manipulator Jacobian matrix; the robot dynamical equations formulated in terms of the spatial algebra, showing the complete equivalence between the recursive Newton-Euler formulations to robot dynamics; the operator factorization and inversion of the manipulator mass matrix which immediately results in O(N) recursive forward dynamics algorithms; the joint accelerations of a manipulator due to a tip contact force; the recursive computation of the equivalent mass matrix as seen at the tip of a manipulator; and recursive forward dynamics of a closed chain system. Finally, additional applications and current research involving the use of the spatial operator algebra are discussed in general terms.

  15. Adaptive Control of Flexible Redundant Manipulators Using Neural Networks

    Institute of Scientific and Technical Information of China (English)

    SONG Yimin; LI Jianxin; WANG Shiyu; LIU Jianping

    2006-01-01

    An investigation on the neural networks based active vibration control of flexible redundant manipulators was conducted.The smart links of the manipulator were synthesized with the flexible links to which were attached piezoceramic actuators and strain gauge sensors.A nonlinear adaptive control strategy named neural networks based indirect adaptive control (NNIAC) was employed to improve the dynamic performance of the manipulator.The mathematical model of the 4-layered dynamic recurrent neural networks (DRNN) was introduced.The neuro-identifier and the neurocontroller featuring the DRNN topology were designed off line so as to enhance the initial robustness of the NNIAC.By adjusting the neuro-identifier and the neuro-controller alternatively,the manipulator was controlled on line for achieving the desired dynamic performance.Finally,a planar 3R redundant manipulator with one smart link was utilized as an illustrative example.The simulation results proved the validity of the control strategy.

  16. Advanced Bimanual Manipulation Results from the DEXMART Project

    CERN Document Server

    2012-01-01

    Dexterous and autonomous manipulation is a key technology for the personal and service robots of the future. Advances in Bimanual Manipulation edited by Bruno Siciliano provides the robotics community with the most noticeable results of the four-year European project DEXMART (DEXterous and autonomous dual-arm hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition). The volume covers a host of highly important topics in the field, concerned with modelling and learning of human manipulation skills, algorithms for task planning, human-robot interaction, and grasping, as well as hardware design of dexterous anthropomorphic hands. The results described in this five-chapter collection are believed to pave the way towards the development of robotic systems endowed with dexterous and human-aware dual-arm/hand manipulation skills for objects, operating with a high degree of autonomy in unstructured real-world environments.

  17. The Kinematic design of a 3-dof Hybrid Manipulator

    CERN Document Server

    Chablat, Damien; Angeles, Jorge

    1998-01-01

    This paper focuses on the kinematic properties of a new three-degree-of-freedom hybrid manipulator. This manipulator is obtained by adding in series to a five-bar planar mechanism (similar to the one studied by Bajpai and Roth) a third revolute passing through the line of centers of the two actuated revolute joints of the above linkage. The resulting architecture is hybrid in that it has both serial and parallel links. Fully-parallel manipulators are known for the existence of particularly undesirable singularities (referred to as parallel singularities) where control is lost [4] and [6]. On the other hand, due to their cantilever type of kinematic arrangement, fully serial manipulators suffer from a lack of stiffness and from relatively large positioning errors. The hybrid manipulator studied is intrinsically stiffer and more accurate. Furthermore, since all actuators are located on the first axis, the inertial effects are considerably reduced. In addition, it is shown that the special kinematic structure of...

  18. Cryopreservation of manipulated embryos: tackling the double jeopardy.

    Science.gov (United States)

    Dinnyes, A; Nedambale, T L

    2009-01-01

    The aim of the present review is to provide information to researchers and practitioners concerning the reasons for the altered viability and the medium- and long-term consequences of cryopreservation of manipulated mammalian embryos. Embryo manipulation is defined herein as the act or process of manipulating mammalian embryos, including superovulation, AI, IVM, IVF, in vitro culture, intracytoplasmic sperm injection, embryo biopsy or splitting, somatic cell nuclear transfer cloning, the production of sexed embryos (by sperm sexing), embryo cryopreservation, embryo transfer or the creation of genetically modified (transgenic) embryos. With advances in manipulation technologies, the application of embryo manipulation will become more frequent; the proper prevention and management of the resulting alterations will be crucial in establishing an economically viable animal breeding technology.

  19. Osteopathic manipulative treatment: novel application to dermatological disease.

    Science.gov (United States)

    Campbell, Shannon M; Winkelmann, Richard R; Walkowski, Stevan

    2012-10-01

    Dermatological diseases, such as dysesthesia syndromes, stasis dermatoses, and hyperhidrosis are difficult to treat due to their complex etiologies. Current theories suggest these diseases are caused by physiological imbalances, such as nerve impingement, localized tissue congestion, and impaired autonomic regulation. Osteopathic manipulative therapy targets these physiological dysfunctions and may serve as a beneficial therapeutic option. Osteopathic manipulative therapy techniques include high velocity low amplitude, muscle energy, counterstrain, myofascial release, craniosacral, and lymphatic drainage. An osteopathic manipulative therapy technique is chosen based on its physiological target for a particular disease. Osteopathic manipulative therapy may be useful alone or in combination with standard therapeutic options. However, due to the lack of standardized trials supporting the efficacy of osteopathic manipulative therapy treatment for dermatological disease, randomized, well-controlled studies are necessary to confirm its therapeutic value.

  20. Workspace and Kinematics Analysis of Redundant Space Manipulator

    Directory of Open Access Journals (Sweden)

    Zhang Jian-xia

    2016-01-01

    Full Text Available In order to meet the requirements of tasks in the complex space environment, we designed a kind of 7 degrees of freedom redundant space manipulator in this paper. Its 3D modelling is based on SolidWorks 2015. The joint coordinate system of redundant space manipulator is described with the Denavit-Hartenberg (D-H method. And the kinematic model is established. The direct kinematic equations of redundant space manipulator are derived by the homogeneous coordinate transforming matrices. The workspace is simulated and analysed using the Monte Carlo method. The experimental results showed that the workspace of 7 degrees of freedom redundant space manipulator, which was designed in this paper, changed smoothly. What’s more, it had not the abrupt phenomenon, and the independent part is bigger. Thus it verifies the rationality of our designing about the redundant space manipulator. It provides a good reference for the path planning and obstacle avoidance planning.

  1. The Effects on Students' Conceptual Understanding of Electric Circuits of Introducing Virtual Manipulatives within a Physical Manipulatives-Oriented Curriculum

    Science.gov (United States)

    Zacharia, Zacharias C.; de Jong, Ton

    2014-01-01

    This study investigates whether Virtual Manipulatives (VM) within a Physical Manipulatives (PM)-oriented curriculum affect conceptual understanding of electric circuits and related experimentation processes. A pre-post comparison study randomly assigned 194 undergraduates in an introductory physics course to one of five conditions: three…

  2. MENDING THE IN SITU MANIPULATION BARRIER

    Energy Technology Data Exchange (ETDEWEB)

    PETERSEN, S.W.

    2006-02-06

    In early 2004, the U.S. Department of Energy (DOE) Richland and Fluor Hanford requested technical assistance from the DOE Headquarters EM-23 Technical Assistance Program to provide a team of technical experts to develop recommendations for mending the In Situ Redox Manipulation (ISRM) Barrier in the 100-D Area of the Hanford Site in Washington State. To accommodate this request, EM-23 provided support to convene a group of technical experts from industry, a national laboratory, and a DOE site to participate in a 2 1/2-day workshop with the objective of identifying and recommending options to enhance the performance of the 100-D Area reactive barrier and of a planned extension to the northeast. This report provides written documentation of the team's findings and recommendations. In 1995, a plume of dissolved hexavalent chromium [Cr(VI)], which resulted from operation of the D/DR Reactors at the Hanford site, was discovered along the Columbia River shoreline and in the 100-D Area. Between 1999 and 2003, a reactive barrier using the In Situ Redox Manipulation (ISRM) technology, was installed a distance of 680 meters along the river to reduce the Cr(VI) in the groundwater. The ISRM technology creates a treatment zone within the aquifer by injection of sodium dithionite, a strong reducing agent that scavenges dissolved oxygen (DO) from the aquifer and reduces ferric iron [Fe(III)], related metals, and oxy-ions. The reduction of Fe(III) to ferrous [Fe(II)] iron provides the primary reduction capacity to reduce Cr(VI) to the +3 state, which is less mobile and less toxic. Bench-scale and field-scale treatability tests were initially conducted to demonstrate proof-of principle and to provide data for estimation of barrier longevity. These calculations estimated barrier longevity in excess of twenty years. However, several years after initial and secondary treatment, groundwater in a number of wells has been found to contain elevated chromium (Cr) concentrations

  3. MENDING THE IN SITU MANIPULATION BARRIER

    Energy Technology Data Exchange (ETDEWEB)

    PETERSEN, S.W.

    2006-02-06

    In early 2004, the U.S. Department of Energy (DOE) Richland and Fluor Hanford requested technical assistance from the DOE Headquarters EM-23 Technical Assistance Program to provide a team of technical experts to develop recommendations for mending the In Situ Redox Manipulation (ISRM) Barrier in the 100-D Area of the Hanford Site in Washington State. To accommodate this request, EM-23 provided support to convene a group of technical experts from industry, a national laboratory, and a DOE site to participate in a 2 1/2-day workshop with the objective of identifying and recommending options to enhance the performance of the 100-D Area reactive barrier and of a planned extension to the northeast. This report provides written documentation of the team's findings and recommendations. In 1995, a plume of dissolved hexavalent chromium [Cr(VI)], which resulted from operation of the D/DR Reactors at the Hanford site, was discovered along the Columbia River shoreline and in the 100-D Area. Between 1999 and 2003, a reactive barrier using the In Situ Redox Manipulation (ISRM) technology, was installed a distance of 680 meters along the river to reduce the Cr(VI) in the groundwater. The ISRM technology creates a treatment zone within the aquifer by injection of sodium dithionite, a strong reducing agent that scavenges dissolved oxygen (DO) from the aquifer and reduces ferric iron [Fe(III)], related metals, and oxy-ions. The reduction of Fe(III) to ferrous [Fe(II)] iron provides the primary reduction capacity to reduce Cr(VI) to the +3 state, which is less mobile and less toxic. Bench-scale and field-scale treatability tests were initially conducted to demonstrate proof-of principle and to provide data for estimation of barrier longevity. These calculations estimated barrier longevity in excess of twenty years. However, several years after initial and secondary treatment, groundwater in a number of wells has been found to contain elevated chromium (Cr) concentrations

  4. Impedance control of flexible macro/mini manipulators

    Science.gov (United States)

    Schubert, Heidi Christine

    Construction and maintenance of on-orbit crew-operated hardware is currently done mostly by extra-vehicular astronauts. Use of robotics for some of these tasks provides the opportunity for both increased safety for the astronauts and major cost savings. An effective space robotic manipulator must be lightweight, have a large workspace, and be capable of fine dexterous control. A large lightweight manipulator will necessarily be quite flexible, limiting the achievable end-point bandwidth. One way to achieve all of the objectives is via advanced control of a macro/mini manipulator: a large lightweight manipulator carrying a small dexterous manipulator, such as is planned for the International Space Station. The goal of this work is to control a flexible-joint macro carrying a two-arm mini manipulator. For ease of use, a low-level controller should be designed such that the user or automated planner need only command the desired end-point motions and forces. Designing an end-point controller for a macro/mini manipulator presents many challenges. Such a manipulator system is non-linear, has low frequency flexibility, and has dynamic coupling between the macro and mini. A smart method for controlling manipulators is impedance control, which specifies a desired force-velocity relationship at the end-point of the manipulator, enabling smooth contact with the environment. Using operational space control, the dynamics of the manipulator are transformed into operational coordinates for implementation of the impedance law. The operational space method also enables a secondary control of the redundant degrees of freedom, without degrading the end-point impedance task. This thesis presents new theoretical advances that enable extending the concepts of operational space and impedance control to redundant joint-flexible robots. Important advances include a new method for choosing the end-point impedance and a null-space controller that performs much better. The new control

  5. The Personal Mobility and Manipulation Appliance (PerMMA): a robotic wheelchair with advanced mobility and manipulation.

    Science.gov (United States)

    Wang, Hongwu; Grindle, Garrett G; Candiotti, Jorge; Chung, Chengshiu; Shino, Motoki; Houston, Elaine; Cooper, Rory A

    2012-01-01

    The Personal Mobility and Manipulation Appliance (PerMMA) is a recently developed personal assistance robot developed to provide people with disabilities and older adults enhanced assistance in both mobility and manipulation, which are two fundamental components for independently activities of daily life performing, community participation, and quality of life. Technologies to assist with mobility and manipulation are among the most important tools for clinicians, end users and caregivers; however, there are currently few systems that provide practical and coordinated assistance with mobility and manipulation tasks. The PerMMA was not only developed and evaluated to provide users and caregivers enhanced mobility and manipulation options, but also as a clinical tool as well as research platform. The development and evaluation of PerMMA are presented in the paper.

  6. Aerosolized avian influenza virus by laboratory manipulations

    Directory of Open Access Journals (Sweden)

    Li Zhiping

    2012-08-01

    Full Text Available Abstract Background Avian H5N1 influenza viruses present a challenge in the laboratory environment, as they are difficult to collect from the air due to their small size and relatively low concentration. In an effort to generate effective methods of H5N1 air removal and ensure the safety of laboratory personnel, this study was designed to investigate the characteristics of aerosolized H5N1 produced by laboratory manipulations during research studies. Results Normal laboratory procedures used to process the influenza virus were carried out independently and the amount of virus polluting the on-site atmosphere was measured. In particular, zootomy, grinding, centrifugation, pipetting, magnetic stirring, egg inoculation, and experimental zoogenetic infection were performed. In addition, common accidents associated with each process were simulated, including breaking glass containers, syringe injection of influenza virus solution, and rupturing of centrifuge tubes. A micro-cluster sampling ambient air pollution collection device was used to collect air samples. The collected viruses were tested for activity by measuring their ability to induce hemagglutination with chicken red blood cells and to propagate in chicken embryos after direct inoculation, the latter being detected by reverse-transcription PCR and HA test. The results showed that the air samples from the normal centrifugal group and the negative-control group were negative, while all other groups were positive for H5N1. Conclusions Our findings suggest that there are numerous sources of aerosols in laboratory operations involving H5N1. Thus, laboratory personnel should be aware of the exposure risk that accompanies routine procedures involved in H5N1 processing and take proactive measures to prevent accidental infection and decrease the risk of virus aerosol leakage beyond the laboratory.

  7. Manipulating spins at the atomic scale

    Science.gov (United States)

    Stepanyuk, Valeri

    2012-02-01

    The control over magnetic states down to a single atomic spin on a surface is of great importance for future spintronics devices. We present the state of the art ab initio studies of magnetic and transport properties of atomic-scale nanostructures on metal surfaces. We demonstrate that the spin direction of single adatoms can be controlled by a magnetic STM tip [1]. We reveal that applying an external electric field it is possible to switch small clusters on surfaces with magnetic bi-or multistability between their different magnetic states [2]. We show that a spin-polarization in atomic-scale nanostructures [3] could be manipulated at the atomic-scale by electric field [4]. Our studies give a clear evidence that transport properties of magnetic nanostructures can be tailored on an scale of 1 nm exploiting a spin-dependent quantum confinement [3,5]. [4pt] [1] K. Tao, V.S. Stepanyuk, W. Hergert, I. Rungger,S. Sanvito, P. Bruno, Phys. Rev. Lett. 103, 057202 (2009).[0pt] [2] N. N. Negulyaev, V.S. Stepanyuk, W. Hergert, J. Kirschner, Phys. Rev. Lett. 106, 037202 (2011).[0pt] [3] H. Oka, P.A. Ignatiev, S. Wedekind, G. Rodary, L. Niebergall, V.S. Stepanyuk, D. Sander, J. Kirschner, Science 327, 843 (2010).[0pt] [4] P.A. Ignatiev and V.S. Stepanyuk, Phys. Rev. B 84, 075421 (2011).[0pt] [5] H. Oka, K. Tao, S. Wedekind, G. Rodary, V.S. Stepanyuk, D. Sander, J. Kirschner, Phys. Rev. Lett.107, 187201 (2011).

  8. Neural Control Adaptation to Motor Noise Manipulation

    Directory of Open Access Journals (Sweden)

    Christopher J Hasson

    2016-03-01

    Full Text Available Antagonistic muscular co-activation can compensate for movement variability induced by motor noise at the expense of increased energetic costs. Greater antagonistic co-activation is commonly observed in older adults, which could be an adaptation to increased motor noise. The present study tested this hypothesis by manipulating motor noise in twelve young subjects while they practiced a goal-directed task using a myoelectric virtual arm, which was controlled by their biceps and triceps muscle activity. Motor noise was increased by increasing the coefficient of variation of the myoelectric signals. As hypothesized, subjects adapted by increasing antagonistic co-activation, and this was associated with reduced noise-induced performance decrements. A second hypothesis was that a virtual decrease in motor noise, achieved by smoothing the myoelectric signals, would have the opposite effect: co-activation would decrease and motor performance would improve. However, the results showed that a decrease in noise made performance worse instead of better, with no change in co-activation. Overall, these findings suggest that the nervous system adapts to virtual increases in motor noise by increasing antagonistic co-activation, and this preserves motor performance. Reducing noise may have failed to benefit performance due to characteristics of the filtering process itself, e.g. delays are introduced and muscle activity bursts are attenuated. The observed adaptations to increased noise may explain in part why older adults and many patient populations have greater antagonistic co-activation, which could represent an adaptation to increased motor noise, along with a desire for increased joint stability.

  9. Concrete and App-Based Manipulatives to Support Students with Disabilities with Subtraction

    Science.gov (United States)

    Bouck, Emily C.; Chamberlain, Courtney; Park, Jiyoon

    2017-01-01

    Manipulatives support students with and without disabilities in mathematics. However, as students age, concrete manipulatives can be limiting and potentially not age appropriate (Satsangi, 2015). An alternative is virtual manipulatives, including app-based manipulatives. This study compared the use of app-based manipulatives to concrete…

  10. Manipulation complexity in primates coevolved with brain size and terrestriality.

    Science.gov (United States)

    Heldstab, Sandra A; Kosonen, Zaida K; Koski, Sonja E; Burkart, Judith M; van Schaik, Carel P; Isler, Karin

    2016-04-14

    Humans occupy by far the most complex foraging niche of all mammals, built around sophisticated technology, and at the same time exhibit unusually large brains. To examine the evolutionary processes underlying these features, we investigated how manipulation complexity is related to brain size, cognitive test performance, terrestriality, and diet quality in a sample of 36 non-human primate species. We categorized manipulation bouts in food-related contexts into unimanual and bimanual actions, and asynchronous or synchronous hand and finger use, and established levels of manipulative complexity using Guttman scaling. Manipulation categories followed a cumulative ranking. They were particularly high in species that use cognitively challenging food acquisition techniques, such as extractive foraging and tool use. Manipulation complexity was also consistently positively correlated with brain size and cognitive test performance. Terrestriality had a positive effect on this relationship, but diet quality did not affect it. Unlike a previous study on carnivores, we found that, among primates, brain size and complex manipulations to acquire food underwent correlated evolution, which may have been influenced by terrestriality. Accordingly, our results support the idea of an evolutionary feedback loop between manipulation complexity and cognition in the human lineage, which may have been enhanced by increasingly terrestrial habits.

  11. PEMBUATAN PERANGKAT LUNAK WAVE MANIPULATOR UNTUK MEMANIPULASI FILE WAV

    Directory of Open Access Journals (Sweden)

    Ibnu Gunawan

    2005-01-01

    Full Text Available WAV File is a standard audio file used in Windows. Manipulation of WAV File can be done to obtain different output from the WAV File. These manipulation processes are made into an application that is capable to make changes on WAV File. WAVE Manipulator is an audio application used to change voice from audio files like WAV file. The objective of this project is to develop an application that can be used to change or give effect to the popular audio file known as WAV File using Borland Delphi 7. Application is designed using standard view to make it easier to use. The output of this research is a WAVE Manipulator Software that function as a tool to manipulate WAV File with the ability to choose part of sample for the manipulation, so that user can easily manipulate a WAV File. Abstract in Bahasa Indonesia : File WAV adalah file audio standar yang digunakan oleh Windows. Manipulasi file WAV bisa dilakukan untuk mendapatkan hasil suara yang berbeda-beda. Proses manipulasi file WAV tersebut akan dikemas menjadi suatu applikasi yang akan mampu melakukan perubahan-perubahan pada file WAV. WAVE Manipulator adalah nama dari suatu aplikasi audio yang akan dibuat untuk mengubah hasil suara dari file-file audio seperti file WAV. Tujuan dari pembuatan perangkat lunak ini adalah untuk membangun suatu aplikasi yang dapat digunakan untuk mengubah atau memberi efek pada file WAV yang merupakan salah satu file audio yang sangat dikenal dengan menggunakan Borland Delphi 7. Hasil dari penelitian ini adalah sebuah perangkat lunak yang bernama WAVE Manipulator yang akan berguna untuk melakukan manipulasi pada file WAV dilengkapi dengan kemampuan untuk menentukan bagian dari sample yang akan dimanipulasi dan lainnya untuk memudahkan pemakai program dalam melakukan manipulasi file WAV. Kata kunci: manipulasi, WAV, WAVE

  12. Control algorithm implementation for a redundant degree of freedom manipulator

    Science.gov (United States)

    Cohan, Steve

    1991-01-01

    This project's purpose is to develop and implement control algorithms for a kinematically redundant robotic manipulator. The manipulator is being developed concurrently by Odetics Inc., under internal research and development funding. This SBIR contract supports algorithm conception, development, and simulation, as well as software implementation and integration with the manipulator hardware. The Odetics Dexterous Manipulator is a lightweight, high strength, modular manipulator being developed for space and commercial applications. It has seven fully active degrees of freedom, is electrically powered, and is fully operational in 1 G. The manipulator consists of five self-contained modules. These modules join via simple quick-disconnect couplings and self-mating connectors which allow rapid assembly/disassembly for reconfiguration, transport, or servicing. Each joint incorporates a unique drive train design which provides zero backlash operation, is insensitive to wear, and is single fault tolerant to motor or servo amplifier failure. The sensing system is also designed to be single fault tolerant. Although the initial prototype is not space qualified, the design is well-suited to meeting space qualification requirements. The control algorithm design approach is to develop a hierarchical system with well defined access and interfaces at each level. The high level endpoint/configuration control algorithm transforms manipulator endpoint position/orientation commands to joint angle commands, providing task space motion. At the same time, the kinematic redundancy is resolved by controlling the configuration (pose) of the manipulator, using several different optimizing criteria. The center level of the hierarchy servos the joints to their commanded trajectories using both linear feedback and model-based nonlinear control techniques. The lowest control level uses sensed joint torque to close torque servo loops, with the goal of improving the manipulator dynamic behavior

  13. Manipulators inspired by the tongue of the chameleon.

    Science.gov (United States)

    Debray, Alexis

    2011-06-01

    Chameleons have developed a specialized ballistic tongue which elongates more than six times its rest length at speeds higher than 3.5 m s(-1) and accelerations 350 m s(-2), with a highly flexible mobile part, and which applies no continuous force during forward motion. These characteristics are possible because this tongue consists of two highly specialized systems, an ejection system for the forward motion and an accordion-like system for the retraction. Four manipulators inspired by the tongue of the chameleon and based on this design have been developed, resulting in three characteristics similar to the tongue of the chameleon: extensibility of the manipulator, flexibility of the mobile part, and absence of continuous force during the forward motion. The first manipulator mimics the basic mechanism of the tongue of the chameleon and reproduced its basic performances. A second manipulator performs a catching function at a speed of 3.5 m s(-1) with an acceleration of 573 m s(-2) while elongating seven times its rest length. The design of this manipulator is such that the dc motor used for retraction applies a torque 25 times its rated torque. Moreover, during the retraction, the mobile part of the manipulator moves due to its own inertia, allowing the dc motor to rotate at full velocity. In another manipulator, the addition of an elastomer in the mobile part allows for control of the retraction velocity. A model for these two manipulators compares well with the experimental data. Finally, the addition of wings on the mobile part allows us to take the advantage of aerodynamic effects, which is unusual for manipulators.

  14. Independent trapping and manipulation of microparticles using dexterous acoustic tweezers

    Energy Technology Data Exchange (ETDEWEB)

    Courtney, Charles R. P., E-mail: c.r.p.courtney@bath.ac.uk [Department of Mechanical Engineering, University of Bath, Bath (United Kingdom); Demore, Christine E. M.; Wu, Hongxiao; Cochran, Sandy [Institute of Medical Science and Technology, University of Dundee, Dundee (United Kingdom); Grinenko, Alon; Wilcox, Paul D.; Drinkwater, Bruce W. [Department of Mechanical Engineering, University of Bristol, Bristol (United Kingdom)

    2014-04-14

    An electronically controlled acoustic tweezer was used to demonstrate two acoustic manipulation phenomena: superposition of Bessel functions to allow independent manipulation of multiple particles and the use of higher-order Bessel functions to trap particles in larger regions than is possible with first-order traps. The acoustic tweezers consist of a circular 64-element ultrasonic array operating at 2.35 MHz which generates ultrasonic pressure fields in a millimeter-scale fluid-filled chamber. The manipulation capabilities were demonstrated experimentally with 45 and 90-μm-diameter polystyrene spheres. These capabilities bring the dexterity of acoustic tweezers substantially closer to that of optical tweezers.

  15. Concussions and Osteopathic Manipulative Treatment: An Adolescent Case Presentation.

    Science.gov (United States)

    Castillo, Iris; Wolf, Kimberly; Rakowsky, Alexander

    2016-03-01

    Concussions commonly occur in adolescents. Although the majority of adolescent patients' symptoms resolve, about 11% continue to experience symptoms at 3 months. Standard treatment options for prolonged symptoms are not available, and the role of osteopathic manipulative treatment in the management of adolescent concussions is unclear. The authors describe a case of a 16-year-old girl with a history of 3 head injuries who presented with concussion symptoms. After 6 weekly osteopathic manipulative treatment sessions, the patient was able to return to her normal activities. Further research on the role of osteopathic manipulative treatment to manage concussions is needed.

  16. Stiffness of serial and quasi-serial manipulators: comparison analysis

    Directory of Open Access Journals (Sweden)

    Klimchik Alexandr

    2016-01-01

    Full Text Available The paper deals with comparison analysis of serial and quasi-serial manipulators. It shows a difference between stiffness behaviours of corresponding industrial robots under external loading, which is caused by machining process. The analysis is based on the estimation of compliance errors induced by cutting forces that are applied to the manipulator end-effector. We demonstrate that the quasi-seral manipulators are preferable for large-dimensional tasks while the quasi-serial ones better suit small size tasks.

  17. Modeling Study of Planar Flexible Manipulator Undergoing Large Deformation

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    The planar flexible manipulator undergoing large deformation is investigated by using finite element method (FEM). Three kinds of reference frames are employed to describe the deformation of arbitrary point in the flexible manipulator, which are global frame, body-fixed frame and co-rotational frame. The rigid-flexible coupling dynamic equation of the planar flexible manipulator is derived using the Hamilton's principle. Numerical simulations are carried out in the end of this paper to demonstrate the effectiveness of the proposed model. The simulation results indicate that the proposed model is efficient not only for small deformation but also for large deformation.

  18. The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators

    CERN Document Server

    Chablat, Damien; Wenger, Philippe; Angeles, Jorge

    2002-01-01

    The subject of this paper is a special class of parallel manipulators. First, we analyze a family of three-degree-of-freedom manipulators. Two Jacobian matrices appear in the kinematic relations between the joint-rate and the Cartesian-velocity vectors, which are called the "inverse kinematics" and the "direct kinematics" matrices. The singular configurations of these matrices are studied. The isotropic configurations are then studied based on the characteristic length of this manipulator. The isoconditioning loci of all Jacobian matrices are computed to define a global performance index to compare the different working modes.

  19. Optimal Kinematic Design of a 2-DOF Planar Parallel Manipulator

    Institute of Scientific and Technical Information of China (English)

    WU Jun; LI Tiemin; LIU Xinjun; WANG Liping

    2007-01-01

    Closed-form solutions were developed to optimize kinematics design of a 2-degree-of-freedom (2-DOF) planar parallel manipulator. The optimum design based on the workspace was presented. Meanwhile,a global, comprehensive conditioning index was introduced to evaluate the kinematic designs. The optimal parallel manipulator is incorporated into a 5-DOF hybrid machine tool which includes a 2-DOF rotational milling head and a long movement worktable. The results show that the planar parallel manipulator-based machine tool can be successfully used to machine blades and guide vanes for a hydraulic turbine.

  20. Resolution of New Daily Persistent Headache After Osteopathic Manipulative Treatment.

    Science.gov (United States)

    Alexander, Joshua

    2016-03-01

    New daily persistent headache is a refractory headache with an elusive cause and treatment. Limited available data suggest that abnormalities in the musculoskeletal system may increase vulnerability to this type of headache. Osteopathic manipulative treatment has been used successfully to manage primary headache disorders. In this case report, a patient with new daily persistent headache and severe somatic dysfunction had resolution of her pain after osteopathic manipulative treatment. This case suggests that osteopathic manipulative treatment may be useful in patients with this typically treatment-resistant disorder.

  1. Modeling, Simulation and Position Control of 3DOF Articulated Manipulator

    Directory of Open Access Journals (Sweden)

    Hossein Sadegh Lafmejani

    2014-08-01

    Full Text Available In this paper, the modeling, simulation and control of 3 degrees of freedom articulated robotic manipulator have been studied. First, we extracted kinematics and dynamics equations of the mentioned manipulator by using the Lagrange method. In order to validate the analytical model of the manipulator we compared the model simulated in the simulation environment of Matlab with the model was simulated with the SimMechanics toolbox. A sample path has been designed for analyzing the tracking subject. The system has been linearized with feedback linearization and then a PID controller was applied to track a reference trajectory. Finally, the control results have been compared with a nonlinear PID controller.

  2. Manipulation of microparticles and red blood cells using optoelectronic tweezers

    Indian Academy of Sciences (India)

    R S Verma; R Dasgupta; N Kumar; S Ahlawat; A Uppal; P K Gupta

    2014-02-01

    We report the development of an optoelectronic tweezers set-up which works by lightinduced dielectrophoresis mechanism to manipulate microparticles. We used thermal evaporation technique for coating the organic polymer, titanium oxide phthalocyanine (TiOPc), as a photoconductive layer on ITO-coated glass slide. Compare to the conventional optical tweezers, the technique requires optical power in W range and provides a manipulation area of a few mm2. The set-up was used to manipulate the polystyrene microspheres and red blood cells (RBCs). The RBCs could be attracted or repelled by varying the frequency of the applied AC bias.

  3. Metaoptics for Spectral and Spatial Beam Manipulation

    Science.gov (United States)

    Raghu Srimathi, Indumathi

    Laser beam combining and beam shaping are two important areas with applications in optical communications, high power lasers, and atmospheric propagation studies. In this dissertation, metaoptical elements have been developed for spectral and spatial beam shaping, and multiplexing. Beams carrying orbital angular momentum (OAM), referred to as optical vortices, have unique propagation properties. Optical vortex beams carrying different topological charges are orthogonal to each other and have low inter-modal crosstalk which allows for them to be (de)multiplexed. Efficient spatial (de)multiplexing of these beams have been carried out by using diffractive optical geometrical coordinate transformation elements. The spatial beam combining technique shown here is advantageous because the efficiency of the system is not dependent on the number of OAM states being combined. The system is capable of generating coaxially propagating beams in the far-field and the beams generated can either be incoherently or coherently multiplexed with applications in power scaling and dynamic intensity profile manipulations. Spectral beam combining can also be achieved with the coordinate transformation elements. The different wavelengths emitted by fiber sources can be spatially overlapped in the far-field plane and the generated beams are Bessel-Gauss in nature with enhanced depth of focus properties. Unique system responses and beam shapes in the far-field can be realized by controlling amplitude, phase, and polarization at the micro-scale. This has been achieved by spatially varying the structural parameters at the subwavelength scale and is analogous to local modification of material properties. With advancements in fabrication technology, it is possible to control not just the lithographic process, but also the deposition process. In this work, a unique combination of spatial structure variations in conjunction with the conformal coating properties of an atomic layer deposition tool

  4. Detecting Fraudulent Manipulation of Accounting Ratios in Financial ...

    African Journals Online (AJOL)

    Detecting Fraudulent Manipulation of Accounting Ratios in Financial Reporting ... adoption of mandatory accounting standards, and voluntary accounting changes. ... are expected to consider whether the information presented in the financial ...

  5. The weight of stigma: Cortisol reactivity to manipulated weight stigma

    National Research Council Canada - National Science Library

    Himmelstein, Mary S; Incollingo Belsky, Angela C; Tomiyama, A. Janet

    2015-01-01

    .... The psychological and physiological consequences of weight stigma remain understudied. This study examined the effects of experimentally manipulated weight stigma on the stress-responsive hypothalamic-pituitary-adrenal axis (HPA...

  6. Broadband reflected wavefronts manipulation using structured phase gradient metasurfaces

    Science.gov (United States)

    Wang, Xiao-Peng; Wan, Le-Le; Chen, Tian-Ning; Song, Ai-Ling; Du, Xiao-Wen

    2016-06-01

    Acoustic metasurface (AMS) is a good candidate to manipulate acoustic waves due to special acoustic performs that cannot be realized by traditional materials. In this paper, we design the AMS by using circular-holed cubic arrays. The advantages of our AMS are easy assemble, subwavelength thickness, and low energy loss for manipulating acoustic waves. According to the generalized Snell's law, acoustic waves can be manipulated arbitrarily by using AMS with different phase gradients. By selecting suitable hole diameter of circular-holed cube (CHC), some interesting phenomena are demonstrated by our simulations based on finite element method, such as the conversion of incoming waves into surface waves, anomalous reflections (including negative reflection), acoustic focusing lens, and acoustic carpet cloak. Our results can provide a simple approach to design AMSes and use them in wavefront manipulation and manufacturing of acoustic devices.

  7. COMMUNICATIVE EFFECT ACHIEVED THROUGH SPEECH ACTS OF MANIPULATION

    Directory of Open Access Journals (Sweden)

    Oksana Savvichna Grishechko

    2013-12-01

    Full Text Available Linguistic manipulation is a relatively new trend studies in the framework of pragmatics and generally defined as any verbal interaction viewed as goal-oriented and goal-preconditioned phenomenon. It is verbal communication described from the perspective of one of the speakers when he sees himself as a subject of manipulation, while his interlocutor plays the role of an object. Speech acts of manipulation expressed through a variety of utterances having a number of specific aims are used to directly or indirectly convey certain meanings. The article suggest a comprehensive analysis of linguistic means used to construct various types of manipulating and motivating speech acts aimed at conveying different tinges of meaning.

  8. Tracking control of robot manipulators via output feedback linearization

    Institute of Scientific and Technical Information of China (English)

    FEI Yue-nong; Wu Qing-hua

    2006-01-01

    This paper presents a robot manipulator tracking controller based on output feedback linearization.A sliding mode perturbation observer (SPO) is designed to estimate unmeasurable states and system perturbations that involve system nonlinearities,disturbances and unmodelled dynamics.The use of SPO allows to input/output linearize and decouple the strongly coupled nonlinear robot manipulator system merely by the feedback of joint angles.The controller design does not need an accurate model of the robot manipulator.Simulation studies are undertaken based on a two-link robot manipulator to evaluate the proposed approach.The simulation results show that the proposed controller has more superior tracking control performance,with payload changing in a wide range,in comparison with a sliding mode controller (SMC) designed based on state feedback linearization with full states available.

  9. Backstepping Controller for Electrically Driven Flexible Joint Manipulator Under Uncertainties

    Directory of Open Access Journals (Sweden)

    Lilia Zouari

    2014-12-01

    Full Text Available The grown complexity of the robot manipulators dynamics taking into account the jointflexibility, parameter uncertainties and unknown bounded disturbances makes conventionalcontrol strategies difficult and complex to synthesize. This paper focuses on the investiga-tion into backstepping control of flexible joint manipulator driving by Brushless DC Motor(BDCM in the presence of parameter uncertainties and unknown bounded disturbances fortracking trajectory. The goal of this paper is to compensate all uncertainties and distur-bances for flexible joint manipulator. To study the effectiveness of the controllers, backstep-ping controller has been developed for position control and an hysteresis controller has beentreated for current control. Simulation results of the response of the flexible joint manipu-lators associated with their controllers have been presented. The high performances of thebackstepping control are examined in terms of tracking accuracy and error reduction.

  10. Object impedance control for cooperative manipulation - Theory and experimental results

    Science.gov (United States)

    Schneider, Stanley A.; Cannon, Robert H., Jr.

    1992-01-01

    This paper presents the dynamic control module of the Dynamic and Strategic Control of Cooperating Manipulators (DASCCOM) project at Stanford University's Aerospace Robotics Laboratory. First, the cooperative manipulation problem is analyzed from a systems perspective, and the desirable features of a control system for cooperative manipulation are discussed. Next, a control policy is developed that enforces a controlled impedance not of the individual arm endpoints, but of the manipulated object itself. A parallel implementation for a multiprocessor system is presented. The controller fully compensates for the system dynamics and directly controls the object internal forces. Most importantly, it presents a simple, powerful, intuitive interface to higher level strategic control modules. Experimental results from a dual two-link-arm robotic system are used to compare the object impedance controller with other strategies, both for free-motion slews and environmental contact.

  11. Publishing on the WWW. Part 6 - Simple graphic manipulation

    OpenAIRE

    Grech, V

    2001-01-01

    Modern graphic manipulation software is quick and simple to use, and allows medical quality graphics to be produced for online publication. This article demonstrates, step by step, how submitted images are processed by the journal in preparation for publication.

  12. IMPLEMENTATION OF INDUSTRIAL ROBOT-MANIPULATOR SETUPS IN EDUCATIONAL PROCESS

    Directory of Open Access Journals (Sweden)

    A. A. Bobtsov

    2013-01-01

    Full Text Available The article deals with the most important aspects of industrial robot-manipulator setups implementation as an educational tool for the workshop part of advanced technologies in robotics and control engineering courses.

  13. Repetitive motion planning and control of redundant robot manipulators

    CERN Document Server

    Zhang, Yunong

    2013-01-01

    Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields. Yunong Zhang is a professor at The School of Informa...

  14. Definition sets for the Direct Kinematics of Parallel Manipulators

    CERN Document Server

    Wenger, Philippe

    1997-01-01

    The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial manipulators in [Borrel 86] is redefined for such parallel manipulators. Then, it is shown that it is possible to link several solutions to the direct kinematic problem without meeting a singularity, thus meaning that the aspects are not uniqueness domains. Additional surfaces are characterized in the workspace which yield new uniqueness domains. An octree model of spaces is used to compute the joint space, the workspace and all other newly defined sets. This study is illustrated all along the paper with a 3-RPR planar parallel manipulator.

  15. Do as we wish: Parental tactics of mate choice manipulation.

    Science.gov (United States)

    Apostolou, Menelaos

    2013-08-01

    The mate choices of children do not always meet with the approval of their parents. As a consequence, the latter employ a battery of tactics that they use to manipulate the mating behavior of the former. This paper offers the first taxonomy of parental tactics of mate choice manipulation. In particular, in Study 1, 57 semi-structured interviews revealed 72 acts that parents employ to influence their children, and 27 that they employ to influence their children's partners. In Study 2, 405 parents rated how likely they were to use these acts to influence their daughters' and sons' mate choices. Factor analysis of participants' responses revealed 12 manipulation tactics that parents use on their children, and four manipulation tactics that they use on their children's partners.

  16. The regulation of market manipulation in Australia: a historical ...

    African Journals Online (AJOL)

    The regulation of market manipulation in Australia: a historical comparative perspective. ... amended by the Financial Services Reform Act. In the light of this, and for the ... KEYWORDS: Enforcement, market abuse, regulation, financial markets, ...

  17. Inertial Vibration Damping of a Flexible Base Manipulator

    National Research Council Canada - National Science Library

    GEORGE, Lynnane E; BOOK, Wayne J

    2003-01-01

    A rigid (micro) robot mounted serially to the tip of a long, flexible (macro) manipulator is often used to increase reach capability, but flexibility in the macromanipulator can make it susceptible to vibration...

  18. INSTANTANEOUS KINEMATIC CHARACTERISTICS OF ASPECIAL 3-UPU PARALLEL MANIPULATOR

    Institute of Scientific and Technical Information of China (English)

    Li Shihua; Huang Zhen

    2005-01-01

    The instantaneous kinematics of a special 3-UPU parallel platform manipulator is discussed. First, the instantaneous motions of the 3-UPU manipulator in four kinds of positions and a special manipulator are studied by reciprocal screw theory. Then, the principal screws in one of four positions are obtained. It is shown that the moving platform has five degrees of freedom (DOF) in the initial position or after a translation along the z-axis; In the generic position, the mechanism only has three DOF, moreover the three DOF characteristics are different in different position. The instantaneous kinematic characteristics of alike 3-UPU mechanisms are very different in different position and special structure. The results presented are important to the use of alike 3-UPU parallel manipulator and contribute to the mechanism theory

  19. Female directors and real activities manipulation: Evidence from China

    Directory of Open Access Journals (Sweden)

    Jin-hui Luo

    2017-06-01

    Full Text Available Unlike previous studies that focus on accrual-based earnings management, this study analyzes real activities manipulation and investigates whether female directors on boards of directors (BoDs affect managers’ real activities manipulation. Using a large sample of 11,831 firm-year observations from Chinese listed companies from the 2000 to 2011 period, we find that higher female participation on BoDs is associated with lower levels of real activities manipulation, and that this negative relationship is stronger when female directors have higher ownership. These results hold for a battery of robustness checks. Overall, our findings indicate that board gender diversity may serve as a substitute mechanism for corporate governance to curb real activities manipulation and thus provide interested stakeholders with higher quality earnings reports.

  20. New schemes for manipulating quantum states using a Kerr cell

    CERN Document Server

    Genovèse, M

    2000-01-01

    In this proceeding we describe various proposals of application of an high coefficient Kerr cell to quantum states manipulation, ranging from fast modulation of quantum interference, GHZ states generation, Schroedinger cats creation, translucent eavesdropping, etc.

  1. Environmental manipulation for edible insect procurement: a historical perspective

    NARCIS (Netherlands)

    Itterbeeck, Van J.; Huis, van A.

    2012-01-01

    Throughout history humans have manipulated their natural environment for an increased predictability and availability of plant and animal resources. Research on prehistoric diets increasingly includes small game, but edible insects receive minimal attention. Using the anthropological and archaeologi

  2. Vacuum grasping as a manipulation technique for minimally invasive surgery

    Science.gov (United States)

    Goossens, R. H. M.; van Eijk, D. J.; de Hingh, I. H. J. T.; Jakimowicz, J. J.

    2010-01-01

    Background Laparoscopic surgery requires specially designed instruments. Bowel tissue damage is considered one of the most serious forms of lesion, specifically perforation of the bowel. Methods An experimental setting was used to manipulate healthy pig bowel tissue via two vacuum instruments. During the experiments, two simple manipulations were performed for both prototypes by two experienced surgeons. Each manipulation was repeated 20 times for each prototype at a vacuum level of 60 kPa and 20 times for each prototype at a vacuum level of 20 kPa. All the manipulations were macroscopically assessed by two experienced surgeons in terms of damage to the bowel. Results In 160 observations, 63 ecchymoses were observed. All 63 ecchymoses were classified as not relevant and negligible. No serosa or seromuscular damages and no perforations were observed. Conclusion Vacuum instruments such as the tested prototypes have the potential to be used as grasper instruments in minimally invasive surgery. PMID:20195640

  3. Selection and Labeling of Instrumentalities of Verbal Manipulation.

    Science.gov (United States)

    Grimshaw, Allen D.

    1980-01-01

    Identifies three sociological dimensions that constrain the selection, production, interpretation, and reporting of verbally manipulative behaviors; discusses two texts illustrating the dimensions; and examines some problems of conceptualization and measurement. (FL)

  4. Robust Control of Collaborative Manipulators - Flexible Object System

    Directory of Open Access Journals (Sweden)

    Balasubramanian Esakki

    2013-05-01

    stability analysis is performed for both subsystems. Focusing on two three‐link manipulators holding a flexible beam, simulations are performed and simulation results demonstrate the versatility of the proposed robust composite control scheme.

  5. Literary translation:The manipulation of the image

    Institute of Scientific and Technical Information of China (English)

    2012-01-01

    This paper studies literary translation from the perspective of polysystem theory.The translated literature tries to gain the position in the target environment.literary translation is the manipulation of the image

  6. Acoustic Wavefront Manipulation: Impedance Inhomogeneity and Extraordinary Reflection

    CERN Document Server

    Zhao, Jiajun; Chen, Zhining; Li, Baowen

    2013-01-01

    Optical wavefront can be manipulated by interfering elementary beams with phase inhomogeneity. Therefore a surface allowing huge, abrupt and position-variant phase change would enable all possibilities of wavefront engineering. However, one may not have the luxury of efficient abrupt-phase-changing materials in acoustics. This motivates us to establish a counterpart mechanism for acoustics, in order to empower the wide spectrum of novel acoustic applications. Remarkably, the proposed impedance-governed generalized Snell's law (IGSL) of reflection is distinguished from that in optics. Via the manipulation of inhomogeneous acoustic impedance, extraordinary reflection can be tailored for unprecedented wavefront manipulation while ordinary reflection can be surprisingly switched on or off. Our results may power the acoustic-wave manipulation and engineering. We demonstrate novel acoustic applications by planar surfaces designed with IGSL.

  7. HERMIES-3: A step toward autonomous mobility, manipulation, and perception

    Science.gov (United States)

    Weisbin, C. R.; Burks, B. L.; Einstein, J. R.; Feezell, R. R.; Manges, W. W.; Thompson, D. H.

    1989-01-01

    HERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omni-directional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES-III). The environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information.

  8. Drift compensation and faulty display correction in robotic nano manipulation.

    Science.gov (United States)

    Liu, Lian-qing; Xi, Ning; Wang, Yue-chao; Dong, Zai-li

    2010-11-01

    Random drift and faulty visual display are the main problems in Atomic Force Microscopy (AFM) based robotic nanomanipulation. As far as we know, there are no effective methods available to solve these problems. In this paper, an On-line Sensing and Display (OSD) method is proposed to solve these problems. The OSD method mainly includes two subprocesses: Local-Scan-Before-Manipulation (LSBM) and Local-Scan-After-Manipulation (LSAM). During manipulation, LSBM and LSAM are on-line performed for random drift compensation and faulty visual display correction respectively. Through this way, the bad influence aroused from random drift and faulty visual display can be eliminated in real time. The visual feedback keeps consistent with the true environment changes during the process of manipulation, which makes several operations being finished without an image scan in between. Experiments show the increased effectiveness and efficiency of AFM based nanomanipulation.

  9. Repeated training with augmentative vibrotactile feedback increases object manipulation performance.

    Directory of Open Access Journals (Sweden)

    Cara E Stepp

    Full Text Available Most users of prosthetic hands must rely on visual feedback alone, which requires visual attention and cognitive resources. Providing haptic feedback of variables relevant to manipulation, such as contact force, may thus improve the usability of prosthetic hands for tasks of daily living. Vibrotactile stimulation was explored as a feedback modality in ten unimpaired participants across eight sessions in a two-week period. Participants used their right index finger to perform a virtual object manipulation task with both visual and augmentative vibrotactile feedback related to force. Through repeated training, participants were able to learn to use the vibrotactile feedback to significantly improve object manipulation. Removal of vibrotactile feedback in session 8 significantly reduced task performance. These results suggest that vibrotactile feedback paired with training may enhance the manipulation ability of prosthetic hand users without the need for more invasive strategies.

  10. KINEMATIC ANALYSIS OF MODULAR, TRUSS-BASED MANIPULATOR UNITS

    Energy Technology Data Exchange (ETDEWEB)

    Salerno, R. J.

    1994-06-01

    Decontamination and Dismantling (D&D) activities within the U.S. Department of Energy (DOE) require a long reach manipulator with a large load capacity. Variable Geometry Trusses (VGTs) are a unique class of mechanical structures which allow the advantages of truss structures for large scale applications to be applied to large robotic manipulators. Individual VGT units may be assembled to create a modular, long-reach, truss-type manipulator. Each module of such a manipulator system is either a static truss section or one of several possible VGT geometries. While many potential applications exist for this technology, the present work is largely motivated by the need for generic robotic systems for remote manipulation. A manipulator system based on VGT modules provides several advantages. The reconfigurable nature of the manipulator system allows it to be adapted on site to unforeseen conditions. The kinematic redundancy of the manipulator enables it to work effectively even in a highly obstructed workspace. The parallel structure of the truss modules enables the manipulator to be withdrawn in the event of a structural failure. Finally, the open framework of the modules provides a clear, protected passageway for control and power cabling, waste conveyance, or other services required at the end effector. As is implied in a truss structure, all primary members of a VGT are ideally loaded in pure tension or compression. This results in an extremely stiff and strong manipulator system with minimal overall weight. Careful design of the joints of a VGT is very important to the overall stiffness and accuracy of the structure, as several links (as many as six) are joined together at each joint. The greatest disadvantage to this approach to manipulator design has traditionally been that the kinematics of VGT structures are complex and poorly understood. This report specifically addresses the kinematics of several possible geometries for the individual VGT units. Equations and

  11. Independent trapping and manipulation of microparticles using dexterous acoustic tweezers

    OpenAIRE

    Courtney, Charles R. P.; Demore, Christine E. M.; Wu, Hongxiao; Grinenko, Alon; Wilcox, Paul D.; Cochran, Sandy; Drinkwater, Bruce W.

    2014-01-01

    An electronically controlled acoustic tweezer was used to demonstrate two acoustic manipulation phenomena: superposition of Bessel functions to allow independent manipulation of multiple particles and the use of higher-order Bessel functions to trap particles in larger regions than is possible with first-order traps. The acoustic tweezers consist of a circular 64-element ultrasonic array operating at 2.35 MHz which generates ultrasonic pressure fields in a millimeter-scale fluid-filled chambe...

  12. Hybrid Force Motion Synchronization Control of Robot Manipulators

    OpenAIRE

    Fikkan, Kristoffer

    2010-01-01

    The main objective of this thesis was to combine the theory on synchronization of robot manipulators with the concept of hybrid force/motion control; resulting in a controller capable of following both the trajectory of another robot and a desired force trajectory at the same time. This report includes a short introduction to synchronization theory for robot manipulators, and a more thorough summary of existing hybrid control schemes. An intuitive method for describing constraints caused...

  13. Human coffee drinking: manipulation of concentration and caffeine dose.

    OpenAIRE

    Griffiths, R R; Bigelow, G E; Liebson, I A; O'Keeffe, M; O'Leary, D.; Russ, N

    1986-01-01

    In a residential research ward coffee drinking was studied in 9 volunteer human subjects with histories of heavy coffee drinking. A series of five experiments was undertaken to characterize adlibitum coffee consumption and to investigate the effects of manipulating coffee concentration, caffeine dose per cup, and caffeine preloads prior to coffee drinking. Manipulations were double-blind and scheduled in randomized sequences across days. When cups of coffee were freely available, coffee drink...

  14. Efficient inverse position transformation for TR 4000S robot manipulator

    Directory of Open Access Journals (Sweden)

    Kesheng Wang

    1989-04-01

    Full Text Available An efficient method is developed for computing the inverse kinematic position solution with a closed form for the TR 4000S spray painting robot manipulator with five degrees of freedom and non-spherical wrist construction. The inverse kinematic problem is defined as the transformation from Cartesian space to the joint space. The solution is based on the geometrical separation of the arm and wrist of a robot manipulator and shows that it is very systematic, efficient and easily derived.

  15. Selective manipulation of superparamagnetic beads by a magnetic microchip

    KAUST Repository

    Gooneratne, Chinthaka Pasan

    2013-07-01

    In this paper, a magnetic microchip (MMC) is presented, to first trap and then selectively manipulate individual, superparamagnetic beads (SPBs) to another trapping site. Trapping sites are realized through soft magnetic micro disks made of Ni80Fe20, and SPB motion is controlled by current-carrying, tapered, conducting lines made of Au. The MMC was realized using standard microfabrication techniques and provides a cheap and versatile platform for microfluidic systems for cell manipulation. © 2013 IEEE.

  16. Imaging and manipulation of a polar molecule on Ag(111)

    DEFF Research Database (Denmark)

    Lin, R.; Braun, K.F.; Tang, H.;

    2001-01-01

    A scanning tunneling microscope (STM) was applied to image and laterally manipulate isolated phosphangulene molecules on Ag(111) at 6 K. Atomic-resolution images clearly revealed three characteristic types of appearances (three-lobed, fish and bump shape) for the adsorbed molecules, which could c......! their manipulating processes can be much more complex in comparison with atoms and small molecules. Such information can shed light on the involved mechanisms on a molecular seals. (C) 2001 Published by Elsevier Science B.V....

  17. Framework for systematic flow manipulation by renewable energy turbine arrays

    OpenAIRE

    Mandre, Shreyas; Mangan, Niall M.

    2016-01-01

    Renewable energy turbines are often constrained to locations where the available energy is limited by the operation of the turbines themselves. In two-dimensions, we describe how an array can manipulate the flow, redirecting more fluid kinetic energy to itself. Two computational, Navier-Stokes simulations of turbine arrays illustrate the feasibility of flow manipulation, and motivate an idealized model. Using inviscid fluid dynamics, we underscore the relation between bound vorticity and flow...

  18. Optical trapping and manipulation of viruses and bacteria

    Energy Technology Data Exchange (ETDEWEB)

    Ashkin, A.; Dziedzic, J.M.

    1987-03-20

    Optical trapping and manipulation of viruses and bacteria by laser radiation pressure were demonstrated with single-beam gradient traps. Individual tobacco mosaic viruses and dense oriented arrays of viruses were trapped in aqueous solution with no apparent damage using approximately 120 milliwatts of argon laser power. Trapping and manipulation of single live motile bacteria and Escherichia coli bacteria were also demonstrated in a high-resolution microscope at powers of a few milliwatts.

  19. Imaging and manipulation of a polar molecule oil Ag(111)

    DEFF Research Database (Denmark)

    Lin, Rong; Braun, K.F.; Tang, H.

    2001-01-01

    A scanning tunneling microscope (STM) was applied to image and laterally manipulate isolated phosphangulene molecules on Ag(111) at 6 K. Atomic-resolution images clearly revealed three characteristic types of appearances (three-lobed, fish and bump shape) for the adsorbed molecules, which could c......! their manipulating processes can be much more complex in comparison with atoms and small molecules. Such information can shed light on the involved mechanisms on a molecular seals....

  20. The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators

    CERN Document Server

    Chablat, Damien; Caro, Stéphane; Angeles, Jorge

    2007-01-01

    The subject of this paper is a special class of three-degree-of-freedom parallel manipulators. The singular configurations of the two Jacobian matrices are first studied. The isotropic configurations are then found based on the characteristic length of this manipulator. The isoconditioning loci for the Jacobian matrices are plotted to define a global performance index allowing the comparison of the different working modes. The index thus resulting is compared with the Cartesian workspace surface and the average of the condition number.

  1. Trajectory tracking for robot manipulators using differential flatness

    Directory of Open Access Journals (Sweden)

    Elkin Veslin Diaz

    2011-05-01

    Full Text Available  This paper proposes applying differential flatness to robot manipulator trajectory tracking. The trajectories for each generalised coordinate are proposed as a function and the corresponding input must be found to guarantee tracking. It is shown that the position in the generalised coordinates and their derivatives are flat inputs which, together with a PD controller, could determine (with some restrictions manipulator movement having minimal deviation throughout its trajectory in both plane movements and in space. 

  2. Advanced real-time manipulation of video streams

    CERN Document Server

    Herling, Jan

    2014-01-01

    Diminished Reality is a new fascinating technology that removes real-world content from live video streams. This sensational live video manipulation actually removes real objects and generates a coherent video stream in real-time. Viewers cannot detect modified content. Existing approaches are restricted to moving objects and static or almost static cameras and do not allow real-time manipulation of video content. Jan Herling presents a new and innovative approach for real-time object removal with arbitrary camera movements.

  3. Sub-Diffraction Nano Manipulation Using STED AFM

    OpenAIRE

    Jenu Varghese Chacko; Claudio Canale; Benjamin Harke; Alberto Diaspro

    2013-01-01

    In the last two decades, nano manipulation has been recognized as a potential tool of scientific interest especially in nanotechnology and nano-robotics. Contemporary optical microscopy (super resolution) techniques have also reached the nanometer scale resolution to visualize this and hence a combination of super resolution aided nano manipulation ineluctably gives a new perspective to the scenario. Here we demonstrate how specificity and rapid determination of structures provided by stimula...

  4. Design of a Parallel Robotic Manipulator using Evolutionary Computing

    OpenAIRE

    António M. Lopes; Solteiro Pires, E. J.; Manuel R. Barbosa

    2012-01-01

    In this paper the kinematic design of a 6-dof parallel robotic manipulator is analysed. Firstly, the condition number of the inverse kinematic jacobian is considered as the objective function, measuring the manipulator's dexterity and a genetic algorithm is used to solve the optimization problem. In a second approach, a neural network model of the analytical objective function is developed and subsequently used as the objective function in the genetic algorithm optimization search process. It...

  5. Stiffness and Angular Deflection analysis of Revolute Manipulator

    Directory of Open Access Journals (Sweden)

    Pundru Srinivasa Rao

    2014-03-01

    Full Text Available This paper proposed to determine the Cartesian stiffness matrix and angular deflection analysis of revolute manipulator. The selected manipulator has rigid fixed link, two movable links and two rotary joints with joint stiffness coefficients are taken into account. The kinematic model of revolute joint manipulator has considered as a planar kinematic chain, which is composed by rigid fixed link and two revolute joints with clearance and deformable elements. The calculation of stiffness matrix depends on Jacobian matrix and change of configuration. The rotational joints are modeled as torsion springs with the same stiffness constant. The relative angular deflections are proportional to the actuated torques taken into account. The subject of this paper has to describe a method for stiffness analysis of serial manipulator. In the present work is to derive the stiffness matrix and angular deflection equations in the Robotic manipulator under the consideration of two-link optimum geometry model for rotary joint manipulator. The stiffness values are measured by displacements of its revolute links loaded by force.

  6. Application of model based control to robotic manipulators

    Science.gov (United States)

    Petrosky, Lyman J.; Oppenheim, Irving J.

    1988-01-01

    A robot that can duplicate humam motion capabilities in such activities as balancing, reaching, lifting, and moving has been built and tested. These capabilities are achieved through the use of real time Model-Based Control (MBC) techniques which have recently been demonstrated. MBC accounts for all manipulator inertial forces and provides stable manipulator motion control even at high speeds. To effectively demonstrate the unique capabilities of MBC, an experimental robotic manipulator was constructed, which stands upright, balancing on a two wheel base. The mathematical modeling of dynamics inherent in MBC permit the control system to perform functions that are impossible with conventional non-model based methods. These capabilities include: (1) Stable control at all speeds of operation; (2) Operations requiring dynamic stability such as balancing; (3) Detection and monitoring of applied forces without the use of load sensors; (4) Manipulator safing via detection of abnormal loads. The full potential of MBC has yet to be realized. The experiments performed for this research are only an indication of the potential applications. MBC has no inherent stability limitations and its range of applicability is limited only by the attainable sampling rate, modeling accuracy, and sensor resolution. Manipulators could be designed to operate at the highest speed mechanically attainable without being limited by control inadequacies. Manipulators capable of operating many times faster than current machines would certainly increase productivity for many tasks.

  7. A bioinspired soft manipulator for minimally invasive surgery.

    Science.gov (United States)

    Ranzani, T; Gerboni, G; Cianchetti, M; Menciassi, A

    2015-05-13

    This paper introduces a novel, bioinspired manipulator for minimally invasive surgery (MIS). The manipulator is entirely composed of soft materials, and it has been designed to provide similar motion capabilities as the octopus's arm in order to reach the surgical target while exploiting its whole length to actively interact with the biological structures. The manipulator is composed of two identical modules (each of them can be controlled independently) with multi-directional bending and stiffening capabilities, like an octopus arm. In the authors' previous works, the design of the single module has been addressed. Here a two-module manipulator is presented, with the final aim of demonstrating the enhanced capabilities that such a structure can have in comparison with rigid surgical tools currently employed in MIS. The performances in terms of workspace, stiffening capabilities, and generated forces are characterized through experimental tests. The combination of stiffening capabilities and manipulation tasks is also addressed to confirm the manipulator potential employment in a real surgical scenario.

  8. Miniopen coracohumeral ligament release and manipulation for idiopathic frozen shoulder

    Directory of Open Access Journals (Sweden)

    Abdelsalam Eid

    2012-01-01

    Full Text Available In the management of idiopathic frozen shoulder, manipulation under anaesthesia is known to have serious potential complications including fractures and intra-articular injuries. Arthroscopy is a safer treatment modality but requires special instruments, experience, and involves added cost. The aim of this work was to study the use of miniopen Coracohumeral ligament release and manipulation of the shoulder as a safe and simple method of treating idiopathic frozen shoulder that could be performed as a quick procedure under short duration anaesthesia obtaining a significant improvement of shoulder function while avoiding complications that are feared to occur with the use of manipulation under anaesthesia. Miniopen Coracohumeral ligament release is performed through a 3-cm incision. The Coracohumeral ligament is divided, and then the shoulder is manipulated without undue force. A case series including fifteen patients (19 shoulders with idiopathic frozen shoulder operated by this technique is described. Miniopen Coracohumeral ligament release and manipulation is a quick procedure that may be performed under short duration anaesthesia obtaining a significant improvement of shoulder function meanwhile avoiding complications that are feared to occur with the use of manipulation under anaesthesia.

  9. Nonlinear Control of Hydraulic Manipulator for Decommissioning Nuclear Reactor

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Myoung-Ho; Lee, Sung-Uk; Kim, Chang-Hoi; Choi, Byung-Seon; Moon, Jei-Kwon [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2016-10-15

    Robot technique is need to decommission nuclear reactor because of high radiation environment. Especially, Manipulator systems are useful for dismantling complex structure in a nuclear facility. In addition, Hydraulic system is applied to handle heavy duty object. Since hydraulic system can demonstrate high power. The manipulator with hydraulic power is already developed. To solve this problem, various nonlinear control method includes acceleration control. But, it is difficult because acceleration value is highly noisy. In this paper, the nonlinear control algorithm without acceleration control is studied. To verify, the hydraulic manipulator model had been developed. Furthermore, the numerical simulation is carried out. The nonlinear control without acceleration parameter method is developed for hydraulic manipulator. To verify control algorithm, the manipulator is modeled by MBD and the hydraulic servo system is also derived. In addition, the numerical simulation is also carried out. Especially, PID gain is determined though TDC algorithm. In the result of numerical simulation, tracking performance is good without acceleration control. Thus, the PID though TDC with SMC is good for hydraulic manipulator control.

  10. Forces at the Main Mechanism of a Railbound Forging Manipulator

    Directory of Open Access Journals (Sweden)

    Florian Ion Tiberiu Petrescu

    2015-12-01

    Full Text Available Forging manipulators have become more prevalent in the industry today. They are used to manipulate objects to be forged. The most common forging manipulators are moving on a railway to have a greater precision and stability. They have been called the railbound forging manipulators. In this paper we determine the driving forces of the main mechanism from such manipulator. Forces diagram shows a typical forging manipulator, with the basic motions in operation process: walking, motion of the tong and buffering. The lifting mechanism consists of several parts including linkages, hydraulic drives and motion pairs. Hydraulic drives are with the lifting hydraulic cylinder, the buffer hydraulic cylinder and the leaning hydraulic cylinder, which are individually denoted by c1, c2 and c3. In this work considering that the kinematics is being solved it determines the forces of the mechanism. In the first place shall be calculated all external forces from the mechanism (The inertia forces, gravitational forces and the force of the weight of the cast part. Is then calculated all the forces from couplers. 

  11. Review conclusions by Ernst and Canter regarding spinal manipulation refuted

    Directory of Open Access Journals (Sweden)

    Evans Roni

    2006-08-01

    Full Text Available Abstract In the April 2006 issue of the Journal of Royal Society of Medicine, Ernst and Canter authored a review of the most recent systematic reviews on the effectiveness of spinal manipulation for any condition. The authors concluded that, except for back pain, spinal manipulation is not an effective intervention for any condition and, because of potential side effects, cannot be recommended for use at all in clinical practice. Based on a critical appraisal of their review, the authors of this commentary seriously challenge the conclusions by Ernst and Canter, who did not adhere to standard systematic review methodology, thus threatening the validity of their conclusions. There was no systematic assessment of the literature pertaining to the hazards of manipulation, including comparison to other therapies. Hence, their claim that the risks of manipulation outweigh the benefits, and thus spinal manipulation cannot be recommended as treatment for any condition, was not supported by the data analyzed. Their conclusions are misleading and not based on evidence that allow discrediting of a large body of professionals using spinal manipulation.

  12. Maximum Allowable Dynamic Load of Mobile Manipulators with Stability Consideration

    Directory of Open Access Journals (Sweden)

    Heidary H. R.

    2015-09-01

    Full Text Available High payload to mass ratio is one of the advantages of mobile robot manipulators. In this paper, a general formula for finding the maximum allowable dynamic load (MADL of wheeled mobile robot is presented. Mobile manipulators operating in field environments will be required to manipulate large loads, and to perform such tasks on uneven terrain, which may cause the system to reach dangerous tip-over instability. Therefore, the method is expanded for finding the MADL of mobile manipulators with stability consideration. Moment-Height Stability (MHS criterion is used as an index for the system stability. Full dynamic model of wheeled mobile base and mounted manipulator is considered with respect to the dynamic of non-holonomic constraint. Then, a method for determination of the maximum allowable loads is described, subject to actuator constraints and by imposing the stability limitation as a new constraint. The actuator torque constraint is applied by using a speed-torque characteristics curve of a typical DC motor. In order to verify the effectiveness of the presented algorithm, several simulation studies considering a two-link planar manipulator, mounted on a mobile base are presented and the results are discussed.

  13. Acoustic Devices for Particle and Cell Manipulation and Sensing

    Directory of Open Access Journals (Sweden)

    Yongqiang Qiu

    2014-08-01

    Full Text Available An emerging demand for the precise manipulation of cells and particles for applications in cell biology and analytical chemistry has driven rapid development of ultrasonic manipulation technology. Compared to the other manipulation technologies, such as magnetic tweezing, dielectrophoresis and optical tweezing, ultrasonic manipulation has shown potential in a variety of applications, with its advantages of versatile, inexpensive and easy integration into microfluidic systems, maintenance of cell viability, and generation of sufficient forces to handle particles, cells and their agglomerates. This article briefly reviews current practice and reports our development of various ultrasonic standing wave manipulation devices, including simple devices integrated with high frequency (>20 MHz ultrasonic transducers for the investigation of biological cells and complex ultrasonic transducer array systems to explore the feasibility of electronically controlled 2-D and 3-D manipulation. Piezoelectric and passive materials, fabrication techniques, characterization methods and possible applications are discussed. The behavior and performance of the devices have been investigated and predicted with computer simulations, and verified experimentally. Issues met during development are highlighted and discussed. To assist long term practical adoption, approaches to low-cost, wafer level batch-production and commercialization potential are also addressed.

  14. Development of A Deep Ocean Electric Autonomous Manipulator

    Institute of Scientific and Technical Information of China (English)

    XIAO Zhi-hu; XU Guo-hua; PENG Fu-yuan; TANG Guo-yuan; SHEN Xiong; YANG Bo

    2011-01-01

    This paper describes an underwater 3500 m electric manipulator(named Huahai-4E,stands for four functions deep ocean electric manipulator in China),which has been developed at underwater manipulation technology lab in Huazhong University of Science and Technology(HUST)for a test bed of studying of deep ocean manipulation technologies.The manipulator features modular integration joints, and layered architecture control system.The oil-filled,pressure-compensated joint is compactly designed and integrated of a permanent magnet(PM)brushless motor,a drive circuit,a harmonic gear and an angular feedback potentiometer.The underwater control system is based on a network and consisted of three embedded PC/104 computers which are used for servo control,task plan and target sensor respectively.They communicate through User Datagram Protocol(UDP)multicast communication in Vxworks OS.A supervisor PC with a virtual 3D GUI is fiber linked to underwater control system.Furthermore,the manipulator is equipped with a sensor system including a unique ultra-sonic probe array and an underwater camera.Autonomous grasp strategy based multi-sensor is studied.The results of watertight test in 40 MPa,joint's efficiency test and autonomous grasp experiments in tank are also presented.

  15. Chronotherapeutic strategy: Rhythm monitoring, manipulation and disruption.

    Science.gov (United States)

    Ohdo, Shigehiro

    2010-07-31

    Mammalians circadian pacemaker resides in the paired suprachiasmatic nuclei (SCN) and influences a multitude of biological processes, including the sleep-wake rhythm. Clock genes are the genes that control the circadian rhythms in physiology and behavior. 24h rhythm is demonstrated for the function of physiology and the pathophysiology of diseases. The effectiveness and toxicity of many drugs vary depending on dosing time. Such chronopharmacological phenomena are influenced by not only the pharmacodynamics but also pharmacokinetics of medications. The underlying mechanisms are associated with 24h rhythms of biochemical, physiological and behavioral processes under the control of circadian clock. Thus, the knowledge of 24h rhythm in the risk of disease plus evidence of 24h rhythm dependencies of drug pharmacokinetics, effects, and safety constitutes the rationale for pharmacotherapy. Chronotherapy is especially relevant, when the risk and/or intensity of the symptoms of disease vary predictably over time as exemplified by allergic rhinitis, arthritis, asthma, myocardial infarction, congestive heart failure, stroke, and peptic ulcer disease. Morning once-daily administration of corticosteroid tablet medications results in little adrenocortical suppression, while the same daily dose split into four equal administrations to coincide with daily meals and bedtime results in significant hypothalamus-pituitary-adrenal (HPA) axis suppression. However, the drugs for several diseases are still given without regard to the time of day. Identification of a rhythmic marker for selecting dosing time will lead to improved progress and diffusion of chronopharmacotherapy. To monitor the rhythmic marker such as clock genes it may be useful to choose the most appropriate time of day for administration of drugs that may increase their therapeutic effects and/or reduce their side effects. Furthermore, to produce new rhythmicity by manipulating the conditions of living organs by using

  16. Development of technology for teh advancement and modernization of power distribution. ; Kyushu Electric Power Co. Haiden kodokater dot kindaika no tame no gijutsu kaihatsu. ; Kyushu denryoku

    Energy Technology Data Exchange (ETDEWEB)

    1990-07-01

    Power distribution division of Kyushu Electric Power Co. has been promoting electricity upgrading, cost reduction by efficient business administration, and development of various kinds of new technology, in order to meet requirements for upgrading of electricity and power distribution facilities being in harmony with their environment. Power failure of high- or low-tension distribution lines while at work never happens since an indirect method car with a manipulator of which hot-line work is done by a robot and a temporary backup method car which temporarily backs up high-tension current during turning on electricity have been developed. By controlling load facilities of the users directly from the electric company with the centralized control system, power supply costs can be reduced. Moreover, by the data connection between the on-line system in the head office of the company and the automatic control system, labor saving and improvement in accuracy of the input work have been achieved. Now the company is developing or improving such new technologies toward the 21st century as a data transmission system at the time of accident, a different system loop switching unit, a civil work car for underground lines, and so on. 5 figs., 2 tabs.

  17. Report on the results of `the R and D of industrial technology information base arrangement`; `Sangyo gijutsu joho kiban seibi kenkyu kaihatsu` seika hokokusho

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1998-03-01

    In relation to information processing in the open type research information networking, R and D were conducted to establish basic technologies such as grading-up, acceleration, enhancement of efficiency, diversification of application, promotion of usable data accumulation, etc. As to the R and D of software to promote sharing of research information, software was developed which can easily modify and renew management objects for users at research sites, etc., and the target was almost achieved. Concerning the R and D of information supply technology, an approach was presented whereby clients submit bids for each stream of the data requested and the admission decision is made so as to maximize gain of the session under network capacity constraints. Additionally, the R and D were made of software to construct an international information sharing system, a system for multi-lingual I/O, text manipulation and communication, and software for remote use of network based information for scientific computing. 138 refs., 125 figs., 33 tabs.

  18. It is definitely unethical to manipulate financial statements. But maybe it is less unethical, and better, than real manipulation

    DEFF Research Database (Denmark)

    Schøler, Finn

    2013-01-01

    (security) net present values reflect significant differences in the observed key financial ratios and summed outcome in illustrative case study-based examples comparing the consequences of the two different manipulation techniques. Rigid accounting standards, which prevent companies from disclosing what...... decades for which reason violation might lead to enforcement actions by financial authorities. However, there is probably no doubt that both kinds of manipulation are to be considered unethical… This leads to our key question here: Do restrictions relating to the prevention of accounting manipulation...... potentially more severe real manipulation. DATA & METHODS: By presenting simplified versions of real-world case study examples reflecting different subjects, and subsequently using simulation techniques, we demonstrate that the long term earnings consequences are always worse for the key users of financial...

  19. SOCIAL MECHANISMS AND TECHNOLOGIES OF MANIPULATIVE MANAGEMENT OF THE PERSON

    Directory of Open Access Journals (Sweden)

    N. G. Osipova

    2016-01-01

    Full Text Available The article analyzes the different points of view on individual and social conditioning of the individual exposure to manipulative influences. The special attention paid to broad social context of modern transformations when the increasing stream of the information and the new forms of its giving which literally has fallen upon the person. In last decades it conducts to the “incoherence” of sensations, when the confidence and the fixed standards were replaced by uncertainty, incite to superficial perception of things, to sensation of the feeling immediacy of life and to negation of historical regularities. Authors assert that in such situation activity of the organizations and the separate persons which purpose is influence rendering on people, submission to their specific private interests is especially stirred up. The main element of the manipulative influence is the ability to impose their own solutions of urgent problems or engage in manipulation of networks of people who are predisposed to it. This article analyzes the concepts that explain susceptibility to manipulative influences of congenital mental qualities of the person; discusses the theory of “patterns”, launched by domestic explorer V.V. Krasikov. Authors allocate concrete socially-psychological mechanisms which allow people to be subjected to manipulative management, as well as the proven fact of socially conditioned cultivation conformal thinking in a certain social, economic and political circumstances. 

  20. Integration of Mobile Manipulators in an Industrial Production

    DEFF Research Database (Denmark)

    Madsen, Ole; Bøgh, Simon; Schou, Casper

    2015-01-01

    Purpose – The purpose of this study has been to evaluate the technology of autonomous mobile manipulation in a real world industrial manufacturing environment. The objective has been to obtain experience in the integration with existing equipment and determine key challenges in maturing the techn......Purpose – The purpose of this study has been to evaluate the technology of autonomous mobile manipulation in a real world industrial manufacturing environment. The objective has been to obtain experience in the integration with existing equipment and determine key challenges in maturing...... the technology to a level of readiness suitable for industry. Despite much research within the topic of industrial mobile manipulation, the technology has not yet found its way to the industry. To mature the technology to a level of readiness suitable for industry real-world experience is crucial. This paper...... reports from such a real-world industrial experiment with two mobile manipulators. Design/methodology/approach – In the experiment, autonomous industrial mobile manipulators are integrated into the actual manufacturing environment of the pump manufacturer Grundfos. The two robots together solve the task...

  1. Beyond Control Panels: Direct Manipulation for Visual Analytics

    Energy Technology Data Exchange (ETDEWEB)

    Endert, Alexander; Bradel, Lauren; North, Chris

    2013-07-19

    Information Visualization strives to provide visual representations through which users can think about and gain insight into information. By leveraging the visual and cognitive systems of humans, complex relationships and phenomena occurring within datasets can be uncovered by exploring information visually. Interaction metaphors for such visualizations are designed to enable users direct control over the filters, queries, and other parameters controlling how the data is visually represented. Through the evolution of information visualization, more complex mathematical and data analytic models are being used to visualize relationships and patterns in data – creating the field of Visual Analytics. However, the expectations for how users interact with these visualizations has remained largely unchanged – focused primarily on the direct manipulation of parameters of the underlying mathematical models. In this article we present an opportunity to evolve the methodology for user interaction from the direct manipulation of parameters through visual control panels, to interactions designed specifically for visual analytic systems. Instead of focusing on traditional direct manipulation of mathematical parameters, the evolution of the field can be realized through direct manipulation within the visual representation – where users can not only gain insight, but also interact. This article describes future directions and research challenges that fundamentally change the meaning of direct manipulation with regards to visual analytics, advancing the Science of Interaction.

  2. Custom electronic subsystems for the laboratory telerobotic manipulator

    Science.gov (United States)

    Glassell, R. L.; Butler, P. L.; Rowe, J. C.; Zimmermann, S. D.

    1990-01-01

    The National Aeronautics and Space Administration (NASA) Space Station Program presents new opportunities for the application of telerobotic and robotic systems. The Laboratory Telerobotic Manipulator (LTM) is a highly advanced 7 degrees-of-freedom (DOF) telerobotic/robotic manipulator. It was developed and built for the Automation Technology Branch at NASA's Langley Research Center (LaRC) for work in research and to demonstrate ground-based telerobotic manipulator system hardware and software systems for future NASA applications in the hazardous environment of space. The LTM manipulator uses an embedded wiring design with all electronics, motor power, and control and communication cables passing through the pitch-yaw differential joints. This design requires the number of cables passing through the pitch/yaw joint to be kept to a minimum. To eliminate the cables needed to carry each pitch-yaw joint's sensor data to the VME control computers, a custom-embedded electronics package for each manipulator joint was developed. The electronics package collects and sends the joint's sensor data to the VME control computers over a fiber optic cable. The electronics package consist of five individual subsystems: the VME Link Processor, the Joint Processor and the Joint Processor power supply in the joint module, the fiber optics communications system, and the electronics and motor power cabling.

  3. A tunable rf SQUID manipulated as flux and phase qubits

    Energy Technology Data Exchange (ETDEWEB)

    Poletto, S; Lisenfeld, J; Lukashenko, A; Ustinov, A V [Physikalisches Institut, Universitaet Karlsruhe (Thailand), D-76131 Karlsruhe (Germany); Chiarello, F; Castellano, M G [Istituto di Fotonica e Nanotecnologie, CNR, 00156 Roma (Italy); Carelli, P [Dipartimento di Ingegneria Elettrica, Universita dell' Aquila, 67040 Monteluco di Roio (Italy)], E-mail: ustinov@physik.uni-karlsruhe.de

    2009-12-15

    We report on two different manipulation procedures of a tunable rf superconducting quantum interference device (SQUID). First, we operate this system as a flux qubit, where the coherent evolution between the two flux states is induced by a rapid change of the energy potential, turning it from a double well into a single well. The measured coherent Larmor-like oscillation of the retrapping probability in one of the wells has a frequency ranging from 6 to 20 GHz, with a theoretically expected upper limit of 40 GHz. Furthermore, here we also report a manipulation of the same device as a phase qubit. In the phase regime, the manipulation of the energy states is realized by applying a resonant microwave drive. In spite of the conceptual difference between these two manipulation procedures, the measured decay times of Larmor oscillation and microwave-driven Rabi oscillation are rather similar. Due to the higher frequency of the Larmor oscillations, the microwave-free qubit manipulation allows for much faster coherent operations.

  4. Deep-well ultrafast manipulation of a SQUID flux qubit

    Energy Technology Data Exchange (ETDEWEB)

    Castellano, M G; Chiarello, F; Mattioli, F; Torrioli, G [Istituto Fotonica e Nanotecnologie-CNR, Roma (Italy); Carelli, P [Dip. Ingegneria Elettrica e dell' Informazione, Universita dell' Aquila, L' Aquila (Italy); Cosmelli, C, E-mail: mgcastellano@ifn.cnr.i [Dip. Fisica, Sapienza Universita di Roma (Italy)

    2010-04-15

    Superconducting devices based on the Josephson effect are effectively used for the implementation of qubits and quantum gates. The manipulation of superconducting qubits is generally performed by using microwave pulses with frequencies from 5 to 15 GHz, obtaining a typical operating frequency from 100 MHz to 1 GHz. A manipulation based on simple pulses in the absence of microwaves is also possible. In our system, a magnetic flux pulse modifies the potential of a double SQUID qubit from a symmetric double well to a single deep-well condition. By using this scheme with a Nb/AlO{sub x}/Nb system, we obtained coherent oscillations with sub-nanosecond period (tunable from 50 to 200 ps), very fast with respect to other manipulating procedures, and with a coherence time up to 10 ns, of the order of that obtained with similar devices and technologies but using microwave manipulation. We introduce ultrafast manipulation, presenting experimental results, new issues related to this approach (such as the use of a compensation procedure for canceling the effect of 'slow' fluctuations) and open perspectives, such as the possible use of RSFQ logic for qubit control.

  5. System Integration for Real-time Mobile Manipulation

    Directory of Open Access Journals (Sweden)

    Reza Oftadeh

    2014-03-01

    Full Text Available Mobile manipulators are one of the most complicated types of mechatronics systems. The performance of these robots in performing complex manipulation tasks is highly correlated with the synchronization and integration of their low-level components. This paper discusses in detail the mechatronics design of a four wheel steered mobile manipulator. It presents the manipulator ’s mechanical structure and electrical interfaces, designs low-level software architecture based on embedded PC-based controls, and proposes a systematic solution based on code generation products of MATLAB and Simulink. The remote development environment described here is used to develop real-time controller software and modules for the mobile manipulator under a POSIX-compliant, real-time Linux operating system. Our approach enables developers to reliably design controller modules that meet the hard real-time constraints of the entire low-level system architecture. Moreover, it provides a systematic framework for the development and integration of hardware devices with various communication mediums and protocols, which facilitates the development and integration process of the software controller.

  6. Transfer of learned manipulation following changes in degrees of freedom.

    Science.gov (United States)

    Fu, Qiushi; Hasan, Ziaul; Santello, Marco

    2011-09-21

    The present study was designed to determine whether manipulation learned with a set of digits can be transferred to grips involving a different number of digits, and possible mechanisms underlying such transfer. The goal of the task was to exert a torque and vertical forces on a visually symmetrical object at object lift onset to balance the external torque caused by asymmetrical mass distribution. Subjects learned this manipulation through consecutive practice using one grip type (two or three digits), after which they performed the same task but with another grip type (e.g., after adding or removing one digit, respectively). Subjects were able to switch grip type without compromising the behavioral outcome (i.e., the direction, timing, and magnitude of the torque exerted on the object was unchanged), despite the use of significantly different digit force-position coordination patterns in the two grip types. Our results support the transfer of learning for anticipatory control of manipulation and indicate that the CNS forms an internal model of the manipulation task independent of the effectors that are used to learn it. We propose that sensory information about the new digit placement--resulting from adding or removing a digit immediately after the switch in grip type--plays an important role in the accurate modulation of new digit force distributions. We discuss our results in relation to studies of manipulation reporting lack of learning transfer and propose a theoretical framework that accounts for failure or success of motor learning generalization.

  7. A complete manipulation platform for characterization of micro-components

    Science.gov (United States)

    Canales, C.; Cosandier, F.; Boetsch, G.; Chatagny, V.; Lee, J. H.; Bringout, G.; Clavel, R.

    2008-11-01

    This paper presents a complete manipulation platform for characterization of micro-components that is being developed in the scope of the European project GOLEM. Various tools such as electrical probes and force sensors have been designed and integrated on both high precision mobile micro-robots and fixed manipulators in order to interact with micro-objects. The platform enables the user to characterize parts with sizes ranging from sub-micrometer up to the millimeter. Forces ranging from 1 mN up to 120 mN can be measured as well as electrical resistivity of microcomponents. As the characterization platform is aimed to be used by material scientists and biologists, the manipulation is "assisted" so that the user focuses on the application and not on the robotic systems. One of the key features is that the control software will automatically bring the end-effectors of the manipulators in the local (microscope) field of view. The platform is composed of an XY stage mounted on an inverted optical microscope, of manipulators (fixed and mobile) and of various sensors (optical, force and electrical).

  8. Confining continuous manipulations of accelerator beam-line optics

    Science.gov (United States)

    Amstutz, Ph.; Plath, T.; Ackermann, S.; Bödewadt, J.; Lechner, C.; Vogt, M.

    2017-04-01

    Altering the optics in one section of a linear accelerator beam line will in general cause an alteration of the optics in all downstream sections. In circular accelerators, changing the optical properties of any beam-line element will have an impact on the optical functions throughout the whole machine. In many cases, however, it is desirable to change the optics in a certain beam-line section without disturbing any other parts of the machine. Such a local optics manipulation can be achieved by adjusting a number of additional corrector magnets that restore the initial optics after the manipulated section. In that case, the effect of the manipulation is confined in the region between the manipulated and the correcting beam-line elements. Introducing a manipulation continuously, while the machine is operating, therefore requires continuous correction functions to be applied to the correcting quadrupole magnets. In this paper, we present an approach to calculate such continuous correction functions for six quadrupole magnets by means of a homotopy method. Besides a detailed derivation of the method, we present its application to an algebraic example, as well as its demonstration at the seeding experiment sFLASH at the free-electron laser FLASH located at DESY in Hamburg.

  9. Deception studies manipulating centrally acting performance modifiers: a review.

    Science.gov (United States)

    Williams, Emily L; Jones, Hollie S; Sparks, Sandy; Marchant, David C; Micklewright, Dominic; McNaughton, Lars R

    2014-07-01

    Athletes anticipatorily set and continuously adjust pacing strategies before and during events to produce optimal performance. Self-regulation ensures maximal effort is exerted in correspondence with the end point of exercise, while preventing physiological changes that are detrimental and disruptive to homeostatic control. The integration of feedforward and feedback information, together with the proposed brain's performance modifiers is said to be fundamental to this anticipatory and continuous regulation of exercise. The manipulation of central, regulatory internal and external stimuli has been a key focus within deception research, attempting to influence the self-regulation of exercise and induce improvements in performance. Methods of manipulating performance modifiers such as unknown task end point, deceived duration or intensity feedback, self-belief, or previous experience create a challenge within research, as although they contextualize theoretical propositions, there are few ecological and practical approaches which integrate theory with practice. In addition, the different methods and measures demonstrated in manipulation studies have produced inconsistent results. This review examines and critically evaluates the current methods of how specific centrally controlled performance modifiers have been manipulated, within previous deception studies. From the 31 studies reviewed, 10 reported positive effects on performance, encouraging future investigations to explore the mechanisms responsible for influencing pacing and consequently how deceptive approaches can further facilitate performance. The review acts to discuss the use of expectation manipulation not only to examine which methods of deception are successful in facilitating performance but also to understand further the key components used in the regulation of exercise and performance.

  10. Nonlinear Dynamics of Controlled Synchronizations of Manipulator System

    Directory of Open Access Journals (Sweden)

    Qingkai Han

    2014-01-01

    Full Text Available The nonlinear dynamics of the manipulator system which is controlled to achieve the synchronization motions is investigated in the paper. Firstly, the control strategies and modeling approaches of the manipulator system are given, in which the synchronization goal is defined by both synchronization errors and its derivatives. The synchronization controllers applied on the manipulator system include neuron synchronization controller, improved OPCL synchronization controller, and MRAC-PD synchronization controller. Then, an improved adaptive synchronized control strategy is proposed in order to estimate online the unknown structure parameters and state variables of the manipulator system and to realize the needed synchronous compensation. Furthermore, a robust adaptive synchronization controller is also researched to guarantee the dynamic stability of the system. Finally, the stability of motion synchronizations of the manipulator system possessing nonlinear component is discussed, together with the effect of control parameters and joint friction and others. Some typical motions such as motion bifurcations and the loss of synchronization of it are obtained and illustrated as periodic, multiperiodic, and/or chaotic motion patterns.

  11. Planning perception and action for cognitive mobile manipulators

    Science.gov (United States)

    Gaschler, Andre; Nogina, Svetlana; Petrick, Ronald P. A.; Knoll, Alois

    2013-12-01

    We present a general approach to perception and manipulation planning for cognitive mobile manipulators. Rather than hard-coding single purpose robot applications, a robot should be able to reason about its basic skills in order to solve complex problems autonomously. Humans intuitively solve tasks in real-world scenarios by breaking down abstract problems into smaller sub-tasks and use heuristics based on their previous experience. We apply a similar idea for planning perception and manipulation to cognitive mobile robots. Our approach is based on contingent planning and run-time sensing, integrated in our knowledge of volumes" planning framework, called KVP. Using the general-purpose PKS planner, we model information-gathering actions at plan time that have multiple possible outcomes at run time. As a result, perception and sensing arise as necessary preconditions for manipulation, rather than being hard-coded as tasks themselves. We demonstrate the e ectiveness of our approach on two scenarios covering visual and force sensing on a real mobile manipulator.

  12. Environmental manipulation for edible insect procurement: a historical perspective

    Directory of Open Access Journals (Sweden)

    Van Itterbeeck Joost

    2012-01-01

    Full Text Available Abstract Throughout history humans have manipulated their natural environment for an increased predictability and availability of plant and animal resources. Research on prehistoric diets increasingly includes small game, but edible insects receive minimal attention. Using the anthropological and archaeological literature we show and hypothesize about the existence of such environmental manipulations related to the procurement of edible insects. As examples we use eggs of aquatic Hemiptera in Mexico which are semi-cultivated by water management and by providing egg laying sites; palm weevil larvae in the Amazon Basin, tropical Africa, and New Guinea of which the collection is facilitated by manipulating host tree distribution and abundance and which are semi-cultivated by deliberately cutting palm trees at a chosen time at a chosen location; and arboreal, foliage consuming caterpillars in sub-Saharan Africa for which the collection is facilitated by manipulating host tree distribution and abundance, shifting cultivation, fire regimes, host tree preservation, and manually introducing caterpillars to a designated area. These manipulations improve insect exploitation by increasing their predictability and availability, and most likely have an ancient origin.

  13. Environmental manipulation for edible insect procurement: a historical perspective.

    Science.gov (United States)

    Van Itterbeeck, Joost; van Huis, Arnold

    2012-01-21

    Throughout history humans have manipulated their natural environment for an increased predictability and availability of plant and animal resources. Research on prehistoric diets increasingly includes small game, but edible insects receive minimal attention. Using the anthropological and archaeological literature we show and hypothesize about the existence of such environmental manipulations related to the procurement of edible insects. As examples we use eggs of aquatic Hemiptera in Mexico which are semi-cultivated by water management and by providing egg laying sites; palm weevil larvae in the Amazon Basin, tropical Africa, and New Guinea of which the collection is facilitated by manipulating host tree distribution and abundance and which are semi-cultivated by deliberately cutting palm trees at a chosen time at a chosen location; and arboreal, foliage consuming caterpillars in sub-Saharan Africa for which the collection is facilitated by manipulating host tree distribution and abundance, shifting cultivation, fire regimes, host tree preservation, and manually introducing caterpillars to a designated area. These manipulations improve insect exploitation by increasing their predictability and availability, and most likely have an ancient origin.

  14. Manipulation and gender neutrality in stable marriage procedures

    CERN Document Server

    Pini, Maria; Venable, Brent; Walsh, Toby

    2009-01-01

    The stable marriage problem is a well-known problem of matching men to women so that no man and woman who are not married to each other both prefer each other. Such a problem has a wide variety of practical applications ranging from matching resident doctors to hospitals to matching students to schools. A well-known algorithm to solve this problem is the Gale-Shapley algorithm, which runs in polynomial time. It has been proven that stable marriage procedures can always be manipulated. Whilst the Gale-Shapley algorithm is computationally easy to manipulate, we prove that there exist stable marriage procedures which are NP-hard to manipulate. We also consider the relationship between voting theory and stable marriage procedures, showing that voting rules which are NP-hard to manipulate can be used to define stable marriage procedures which are themselves NP-hard to manipulate. Finally, we consider the issue that stable marriage procedures like Gale-Shapley favour one gender over the other, and we show how to us...

  15. Beam rider for an Articulated Robot Manipulator (ARM) accurate positioning of long flexible manipulators

    Science.gov (United States)

    Malachowski, M. J.

    1990-01-01

    Laser beam positioning and beam rider modules were incorporated into the long hollow flexible segment of an articulated robot manipulator (ARM). Using a single laser beam, the system determined the position of the distal ARM endtip, with millimetric precision, in six degrees of freedom, at distances of up to 10 meters. Preliminary designs, using space rated technology for the critical systems, of a two segmented physical ARM, with a single and a dual degree of freedom articulation, were developed, prototyped, and tested. To control the positioning of the physical ARM, an indirect adaptive controller, which used the mismatch between the position of the laser beam under static and dynamic conditions, was devised. To predict the behavior of the system and test the concept, a computer simulation model was constructed. A hierarchical artificially intelligent real time ADA operating system program structure was created. The software was designed for implementation on a dedicated VME bus based Intel 80386 administered parallel processing multi-tasking computer system.

  16. Equivalent Fraction Learning Trajectories for Students with Mathematical Learning Difficulties When Using Manipulatives

    Science.gov (United States)

    Westenskow, Arla

    2012-01-01

    This study identified variations in the learning trajectories of Tier II students when learning equivalent fraction concepts using physical and virtual manipulatives. The study compared three interventions: physical manipulatives, virtual manipulatives, and a combination of physical and virtual manipulatives. The research used a sequential…

  17. Host manipulation by cancer cells: Expectations, facts, and therapeutic implications.

    Science.gov (United States)

    Tissot, Tazzio; Arnal, Audrey; Jacqueline, Camille; Poulin, Robert; Lefèvre, Thierry; Mery, Frédéric; Renaud, François; Roche, Benjamin; Massol, François; Salzet, Michel; Ewald, Paul; Tasiemski, Aurélie; Ujvari, Beata; Thomas, Frédéric

    2016-03-01

    Similar to parasites, cancer cells depend on their hosts for sustenance, proliferation and reproduction, exploiting the hosts for energy and resources, and thereby impairing their health and fitness. Because of this lifestyle similarity, it is predicted that cancer cells could, like numerous parasitic organisms, evolve the capacity to manipulate the phenotype of their hosts to increase their own fitness. We claim that the extent of this phenomenon and its therapeutic implications are, however, underappreciated. Here, we review and discuss what can be regarded as cases of host manipulation in the context of cancer development and progression. We elaborate on how acknowledging the applicability of these principles can offer novel therapeutic and preventive strategies. The manipulation of host phenotype by cancer cells is one more reason to adopt a Darwinian approach in cancer research. © 2016 WILEY Periodicals, Inc.

  18. A planar parallel manipulator based novel MEMS device bonding system

    Institute of Scientific and Technical Information of China (English)

    Ji Junhong; Sun Lining; Zhu Yuhong

    2006-01-01

    A novel MEMS device boning system is presented. Aiming at the high velocity, high precision and high flexibility requirements, a novel manipulator of planar parallel structure is developed to substitute ordinary X-Y table. In addition, the machine vision is implemented to improve the system's flexibility. The initial angular positions of the joints are estimated by the extended Kalman filter algorithm. As a result, the manipulator's absolute locating accuracy in its workspace is guaranteed indirectly. For any MEMS device, the bonding system itself can be used as measurement equipment to create the device's geometry model, which is the base to do off-line programming. A quite ideal trade-off between the system's flexibility and efficiency is got. Finally, some verified motion specification of the manipulator, the bonding experimental results and the verified qualities of the bonded devices are provided.

  19. The left fusiform gyrus hosts trisensory representations of manipulable objects

    DEFF Research Database (Denmark)

    Kassuba, Tanja; Klinge, Corinna; Hölig, Cordula

    2011-01-01

    During object manipulation the brain integrates the visual, auditory, and haptic experience of an object into a unified percept. Previous brain imaging studies have implicated for instance the dorsal part of the lateral occipital complex in visuo-tactile and the posterior superior temporal sulcus....... In the first experiment, we identified brain regions which were consistently activated by unimodal visual, auditory, and haptic processing of manipulable objects relative to non-object control stimuli presented in the same modality. In the second experiment, we assessed regional brain activations when...... was also consistently activated during multisensory matching of object-related information across all three senses. Taken together, our results suggest that this region is central to the recognition of manipulable objects. A putative role of this FG region is to unify object-specific information provided...

  20. Optical manipulation of single molecules in the living cell

    DEFF Research Database (Denmark)

    Norregaard, Kamilla; Jauffred, Liselotte; Berg-Sørensen, Kirstine;

    2014-01-01

    Optical tweezers are the only nano-tools capable of manipulating and performing force-measurements on individual molecules and organelles within the living cell without performing destructive penetration through the cell wall and without the need for inserting a non-endogenous probe. Here, we...... describe how optical tweezers are used to manipulate individual molecules and perform accurate force and distance measurements within the complex cytoplasm of the living cell. Optical tweezers can grab individual molecules or organelles, if their optical contrast to the medium is large enough......, as is the case, e. g., for lipid granules or chromosomes. However, often the molecule of interest is specifically attached to a handle manipulated by the optical trap. The most commonly used handles, their insertion into the cytoplasm, and the relevant micro-rheology of the cell are discussed here and we also...

  1. Control of free-flying space robot manipulator systems

    Science.gov (United States)

    Cannon, Robert H., Jr.

    1990-01-01

    New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail.

  2. MANIPULATIVE COOPERATION POLITICS OF MLM COMPANIES IN SURABAYA CITY

    Directory of Open Access Journals (Sweden)

    Retno Andriati

    2015-06-01

    Full Text Available Many studies on multi-level marketing business from law, management, marketing economic and anthropology perspectives have been focused on its legality which is victims of MLM companies/fake MLM companies. Studies on market phenomenon and entrepreneurship of MLM large industry fromeconomy anthropology perspective are still rare especially in Indonesia. The study is intended to identify the underlying cooperation policy as well as manipulative conduct of MLM business in Surabaya.The study employs qualitative and ethnographic approaches. Qualitative data wereanalyzed using ethnographic approaches. The result of research suggests that MLM businesses have undertaken manipulative cooperation politics by establishing both international level direct selling association (WFDSA and national association (APLI in response to the MLM business controversy. APLI exploits andmanipulates non-member of APLI. Exploiting and manipulating MLM members through ideology doctrine and marketing plan of MLM business/corporate culture.

  3. Precision Spectral Manipulation: A Demonstration Using a Coherent Optical Memory

    Directory of Open Access Journals (Sweden)

    B. M. Sparkes

    2012-06-01

    Full Text Available The ability to coherently spectrally manipulate quantum information has the potential to improve qubit rates across quantum channels and find applications in optical quantum computing. In this paper, we present experiments that use a multielement solenoid combined with the three-level gradient echo memory scheme to perform precision spectral manipulation of optical pulses. These operations include separate bandwidth and frequency manipulation with precision down to tens of kHz, spectral filtering of up to three separate frequency components, as well as time-delayed interference between pulses with both the same, and different, frequencies. If applied in a quantum information network, these operations would enable frequency-based multiplexing of qubits.

  4. Ultrasound-based servoing of manipulators for telesurgery

    Science.gov (United States)

    Stoll, Jeff; Dupont, Pierre; Howe, Robert D.

    2002-02-01

    Certain minimally invasive surgical procedures involve the treatment of highly precise target locations within deformable tissues. While preoperative MRI and CT models can be used for surgical planning, they provide only coarse guidance during surgery due to their limited resolution and owing to tissue deformation. Ultrasound imaging is a promising means of obtaining real-time intraoperative data for target localization that is particularly well suited to minimally invasive surgery due to its portability, speed, and safety. This paper presents a system, in which ultrasound images are used to guide a manipulator to a surgical site. Electromagnetic tracking of the ultrasound probe is used to orient the images. These are then segmented in real time to determine target locations. Finally, target coordinates are used to produce control inputs to drive the manipulator to the target site. The potential of the approach is demonstrated experimentally using a manipulator arm, phantom target, and commercial ultrasound machine.

  5. Novel Hyper-Redundant Manipulator: Design, Study and Experiment

    Institute of Scientific and Technical Information of China (English)

    李彦明; 马培荪; 秦昌俊; 曹志奎; 王建滨; 朱海鸿

    2003-01-01

    A novel hyper-redundant manipulator named RT1 is designed and studied.The unique feature of RT1 is all degrees of freedom (DOF) are actuated with only one motor via special designed hinge bar universal joints.The mechanisms of RT1 are introduced in detail.Some experiments are carried out in order to test the movability and adaptability of the manipulator.RT1 is actuated by pulse string and acts discretely.The discrete working space of RT1 is described and the parameter optimization for kinematical redundancy resolution is studied also.The optimization criterion is altering the design parameter as little as possible during manipulator's motion from the initial position to the expected position.An[1] optimization example is given that is realized with Matlab optimize tool-box.

  6. Holographic acoustic elements for manipulation of levitated objects

    Science.gov (United States)

    Marzo, Asier; Seah, Sue Ann; Drinkwater, Bruce W.; Sahoo, Deepak Ranjan; Long, Benjamin; Subramanian, Sriram

    2015-10-01

    Sound can levitate objects of different sizes and materials through air, water and tissue. This allows us to manipulate cells, liquids, compounds or living things without touching or contaminating them. However, acoustic levitation has required the targets to be enclosed with acoustic elements or had limited manoeuvrability. Here we optimize the phases used to drive an ultrasonic phased array and show that acoustic levitation can be employed to translate, rotate and manipulate particles using even a single-sided emitter. Furthermore, we introduce the holographic acoustic elements framework that permits the rapid generation of traps and provides a bridge between optical and acoustical trapping. Acoustic structures shaped as tweezers, twisters or bottles emerge as the optimum mechanisms for tractor beams or containerless transportation. Single-beam levitation could manipulate particles inside our body for applications in targeted drug delivery or acoustically controlled micro-machines that do not interfere with magnetic resonance imaging.

  7. Systems and Methods of Coordination Control for Robot Manipulation

    Science.gov (United States)

    Chang, Chu-Yin (Inventor); English, James (Inventor); Tardella, Neil (Inventor); Bacon, James (Inventor)

    2013-01-01

    Disclosed herein are systems and methods for controlling robotic apparatus having several movable elements or segments coupled by joints. At least one of the movable elements can include one or more mobile bases, while the others can form one or more manipulators. One of the movable elements can be treated as an end effector for which a certain motion is desired. The end effector may include a tool, for example, or represent a robotic hand (or a point thereon), or one or more of the one or more mobile bases. In accordance with the systems and methods disclosed herein, movement of the manipulator and the mobile base can be controlled and coordinated to effect a desired motion for the end effector. In many cases, the motion can include simultaneously moving the manipulator and the mobile base.

  8. Manipulation of electronic states and photonic states in nanosilicon

    Science.gov (United States)

    Huang, Wei-Qi; Huang, Zhong-Mei; Miao, Xin-Jian; Qin, Chao-Jian; Lv, Quan

    2014-04-01

    On different size hierarchy, period symmetry provides energy band structure, and symmetry breaking produces localized states in gap, for example nanostructures open electronic band gap by confining electrons, but defects in symmetry system produce localized electronic states in gap. The experimental results demonstrate that controlling localized states in gap by changing passivation environment can manipulate emission wavelength, such as stimulated emission at 700 nm due to oxygen passivation and enhanced electroluminescence near 1600 nm due to ytterbium passivation on nanosilicon. In same way, modulating filling fraction and period parameters in photonic crystal enlarges width of photonic band gap (PBG) by confining photons. Symmetry breaking due to defects is effective in manipulating photonic states. New applications for selecting modes in nanolaser and for building single photon source in quantum information are explored by manipulating and coupling between electronic states and photonic states.

  9. Rotor-Flying Manipulator: Modeling, Analysis, and Control

    Directory of Open Access Journals (Sweden)

    Bin Yang

    2014-01-01

    Full Text Available Equipping multijoint manipulators on a mobile robot is a typical redesign scheme to make the latter be able to actively influence the surroundings and has been extensively used for many ground robots, underwater robots, and space robotic systems. However, the rotor-flying robot (RFR is difficult to be made such redesign. This is mainly because the motion of the manipulator will bring heavy coupling between itself and the RFR system, which makes the system model highly complicated and the controller design difficult. Thus, in this paper, the modeling, analysis, and control of the combined system, called rotor-flying multijoint manipulator (RF-MJM, are conducted. Firstly, the detailed dynamics model is constructed and analyzed. Subsequently, a full-state feedback linear quadratic regulator (LQR controller is designed through obtaining linearized model near steady state. Finally, simulations are conducted and the results are analyzed to show the basic control performance.

  10. Boundary feedback stabilisation of a flexible robotic manipulator with constraint

    Science.gov (United States)

    He, Wei; Sun, Chen

    2016-03-01

    In this paper, the flexible robotic manipulator is modelled as a distributed parameter system, represented by a group of partial differential equations and ordinary differential equations. Control is designed at the boundary of the robotic manipulator based on integral-barrier Lyapunov function to suppress the vibration of the elastic deflection and track the desired angular position. With the proposed boundary control, the manipulator can be driven to the desired set-point with angular position and elastic deflection stay under the former setting constraint. Uniformed boundedness of the closed-loop system under the unknown time-varying disturbance is achieved. Stability analysis of the closed-loop system is given by employing the Lyapunov stability theory. Simulation results illustrate the effectiveness of the proposed boundary controller for ensuring output constraint and suppressing vibrations.

  11. The fractional-nonlinear robotic manipulator: Modeling and dynamic simulations

    Science.gov (United States)

    David, S. A.; Balthazar, J. M.; Julio, B. H. S.; Oliveira, C.

    2012-11-01

    In this paper, we applied the Riemann-Liouville approach and the fractional Euler-Lagrange equations in order to obtain the fractional-order nonlinear dynamics equations of a two link robotic manipulator. The aformentioned equations have been simulated for several cases involving: integer and non-integer order analysis, with and without external forcing acting and some different initial conditions. The fractional nonlinear governing equations of motion are coupled and the time evolution of the angular positions and the phase diagrams have been plotted to visualize the effect of fractional order approach. The new contribution of this work arises from the fact that the dynamics equations of a two link robotic manipulator have been modeled with the fractional Euler-Lagrange dynamics approach. The results reveal that the fractional-nonlinear robotic manipulator can exhibit different and curious behavior from those obtained with the standard dynamical system and can be useful for a better understanding and control of such nonlinear systems.

  12. A review of magnetic resonance imaging compatible manipulators in surgery.

    Science.gov (United States)

    Elhawary, H; Zivanovic, A; Davies, B; Lampérth, M

    2006-04-01

    Developments in magnetic resonance imaging (MRI), coupled with parallel progress in the field of computer-assisted surgery, mean that an ideal environment has been created for the development of MRI-compatible robotic systems and manipulators, capable of enhancing many types of surgical procedure. However, MRI does impose severe restrictions on mechatronic devices to be used in or around the scanners. In this article a review of the developments in the field of MRI-compatible surgical manipulators over the last decade is presented. The manipulators developed make use of different methods of actuation, but they can be reduced to four main groups: actuation transmitted through hydraulics, pneumatic actuators, ultrasonic motors based on the piezoceramic principle and remote manual actuation. Progress has been made concerning material selection, position sensing, and different actuation techniques, and design strategies have been implemented to overcome the multiple restrictions imposed by the MRI environment. Most systems lack the clinical validation needed to continue on to commercial products.

  13. 3D optical manipulation of a single electron spin

    CERN Document Server

    Geiselmann, Michael; Renger, Jan; Say, Jana M; Brown, Louise J; de Abajo, F Javier García; Koppens, Frank; Quidant, Romain

    2013-01-01

    Nitrogen vacancy (NV) centers in diamond are promising elemental blocks for quantum optics [1, 2], spin-based quantum information processing [3, 4], and high-resolution sensing [5-13]. Yet, fully exploiting these capabilities of single NV centers requires strategies to accurately manipulate them. Here, we use optical tweezers as a tool to achieve deterministic trapping and 3D spatial manipulation of individual nano-diamonds hosting a single NV spin. Remarkably, we find the NV axis is nearly fixed inside the trap and can be controlled in-situ, by adjusting the polarization of the trapping light. By combining this unique spatial and angular control with coherent manipulation of the NV spin and fluorescent lifetime measurements near an integrated photonic system, we prove optically trapped NV center as a novel route for both 3D vectorial magnetometry and sensing of the local density of optical states.

  14. Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)

    Science.gov (United States)

    Dorsey, John T.; Doggett, William R.; Komendera, Erik E.

    2015-01-01

    The robotic architecture of State-of-the-Art (SOA) space manipulators, represented by the Shuttle Remote Manipulator System (SRMS), inherently limits their capabilities to extend reach, reduce mass, apply force and package efficiently. TALISMAN uses a new and innovative robotic architecture that incorporates a combination of lightweight truss links, a novel hinge joint, tendon-articulation and passive tension stiffening to achieve revolutionary performance. A TALISMAN with performance similar to the SRMS has 1/10th of its mass and packages in 1/7th of its volume. The TALISMAN architecture allows its reach to be scaled over a large range; from 10 to over 300 meters. In addition, the dexterity (number of degrees-of-freedom) can be easily adjusted without significantly impacting manipulator mass because the joints are very lightweight.

  15. Manipulation of entanglement and its realisation using trapped ions

    CERN Document Server

    Jonathan, D

    2001-01-01

    Entanglement is a fundamental physical resource at the heart of quantum information theory. This Thesis contributes to its study by approaching it from two separate directions: the laws governing its manipulation, and its creation within a concrete physical setting. I begin by studying the manipulation of entangled pure states of two quantum systems when (i) only a single copy of each system is available and (ii) only a restricted class of physical operations are allowed to be performed on them. One physically reasonable class, denoted LQCC, is the set of all possible quantum operations realised on each system by local agents, who are allowed to communicate with each other only by classical means. Given these conditions, I find a minimal set of entropic-like state functions that completely determine which manipulations can be realised. Applications to useful protocols such as entanglement concentration are discussed. Further elaboration allows also the determination of the most faithful approximation to a giv...

  16. Approaches to probabilistic model learning for mobile manipulation robots

    CERN Document Server

    Sturm, Jürgen

    2013-01-01

    Mobile manipulation robots are envisioned to provide many useful services both in domestic environments as well as in the industrial context. Examples include domestic service robots that implement large parts of the housework, and versatile industrial assistants that provide automation, transportation, inspection, and monitoring services. The challenge in these applications is that the robots have to function under changing, real-world conditions, be able to deal with considerable amounts of noise and uncertainty, and operate without the supervision of an expert. This book presents novel learning techniques that enable mobile manipulation robots, i.e., mobile platforms with one or more robotic manipulators, to autonomously adapt to new or changing situations. The approaches presented in this book cover the following topics: (1) learning the robot's kinematic structure and properties using actuation and visual feedback, (2) learning about articulated objects in the environment in which the robot is operating,...

  17. Control landscape for ultrafast manipulation by a qubit

    Science.gov (United States)

    Pechen, Alexander; Il'in, Nikolay

    2017-02-01

    In this work we study extrema of objective functionals for ultrafast manipulation by a qubit. Traps are extrema of the objective functionals which are optimal for manipulation by quantum systems only locally, not globally. Prior work has devoted a large amount of effort to the analysis of traps for quantum systems controlled by laser pulses which are long enough, and, for example, manipulation by a qubit with long control pulses was shown to be trap-free. Ultrafast femtosecond and attosecond control has now become widely applicable, which makes the analysis of traps on the ultrafast time scale a necessity. We complete such analysis for a qubit and show that ultrafast state transfer in a qubit remains trap-free for a wide range of the initial and final states of the qubit. We prove that for this range the probability of transition between the initial and the final states has a saddle but no traps.

  18. Cesarean section and the manipulation of exact delivery time.

    Science.gov (United States)

    Fabbri, Daniele; Monfardini, Chiara; Castaldini, Ilaria; Protonotari, Adalgisa

    2016-07-01

    Physicians are often alleged responsible for the manipulation of delivery timing. We investigate this issue in a setting that negates the influence of financial incentives on physician's behavior. Working on a sample of women admitted at the onset of labor in a big public hospital in Italy we estimate a model for the exact time of delivery as driven by individual Indication to Cesarean Section (ICS) and covariates. We find that ICS does not affect the day of delivery but leads to a circadian rhythm in the likelihood of delivery. The pattern is consistent with the postponement of high ICS deliveries in the late night\\early morning shift. Our evidence hardly supports the manipulation of timing of births as driven by medical staff's "demand for leisure". Physicians seem to manipulate the exact timing of delivery to reduce exposure to risk factors extant during off-peak periods. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

  19. Predictors of Host Specificity among Behavior-Manipulating Parasites

    DEFF Research Database (Denmark)

    Fredensborg, B. L.

    2014-01-01

    -specialist that has a restricted ecological niche that it masters. Parasites that manipulate hosts’ behavior are often thought to represent resource-specialists based on a few spectacular examples of manipulation of the host’s behavior. However, the determinants of which, and how many, hosts a manipulating parasite...... can exploit (i.e., niche breadth) are basically unknown. Here, I present an analysis based on published records of the use of hosts by 67 species from 38 genera of helminths inducing parasite increased trophic transmission, a widespread strategy of parasites that has been reported from many taxa...... of parasites and hosts. Using individual and multivariate analyses, I examined the effect of the host’s and parasite’s taxonomy, location of the parasite in the host, type of behavioral change, and the effect of debilitation on host-specificity, measured as the mean taxonomic relatedness of hosts...

  20. Atomic and molecular manipulation with the scanning tunneling microscope.

    Science.gov (United States)

    Stroscio, J A; Eigler, D M

    1991-11-29

    The prospect of manipulating matter on the atomic scale has fascinated scientists for decades. This fascination may be motivated by scientific and technological opportunities, or from a curiosity about the consequences of being able to place atoms in a particular location. Advances in scanning tunneling microscopy have made this prospect a reality; single atoms can be placed at selected positions and structures can be built to a particular design atom-by-atom. Atoms and molecules may be manipulated in a variety of ways by using the interactions present in the tunnel junction of a scanning tunneling microscope. Some of these recent developments and some of the possible uses of atomic and molecular manipulation as a tool for science are discussed.

  1. Singularity-free path planning for parallel manipulator

    Institute of Scientific and Technical Information of China (English)

    陈峰; 赵锡芳; 费燕琼; 殷跃红

    2004-01-01

    Given a start pose and a goal pose, a large number of singularity-free poses are created randomly in the 6 dimensional task space, a short line segment is used to create a feasible path between two singularity-free poses. A well connected roadmap can be obtained and stored in the 6 dimension task space for a specific 6 DOF parallel manipulator in this way and a singularity-free path is queried to connect the start pose and the goalpose. So the singularity-free path planning between any two given poses for this parallel manipulator can be per-formed very efficiently. This singularity-free path planning method can be used with any type of parallel manipu-lator only if the matrix used can be given to define singularities.

  2. Wavefront manipulation with a dipolar metasurface under coherent control

    Science.gov (United States)

    Kang, Ming; Wang, Hui-Tian; Zhu, Weiren

    2017-07-01

    Full phase manipulation with equal amplitude is critical for optical wavefront engineering in various systems. Here we theoretically explore a general approach for optical wavefront manipulation using dipolar metasurfaces under the coherent control. From the microscopic perspective, we theoretically show that the dispersion of a dipolar metasurface under the coherent control can provide the phase manipulation within a full range of [0, 2π] and retain an equal amplitude simultaneously. As an example, such a dipolar metasurface can be constructed by compensatory H-shaped unit resonators to avoid polarization conversion. Specifically, we confirm the feasibility of designed metasurfaces for achieving the beam bending and the vortex-phase beam by the full-wave simulation. The proposed approach enriches the well-established wavefront engineering for extending the functionality of metasurface under the coherent control.

  3. Sub-diffraction nano manipulation using STED AFM.

    Science.gov (United States)

    Chacko, Jenu Varghese; Canale, Claudio; Harke, Benjamin; Diaspro, Alberto

    2013-01-01

    In the last two decades, nano manipulation has been recognized as a potential tool of scientific interest especially in nanotechnology and nano-robotics. Contemporary optical microscopy (super resolution) techniques have also reached the nanometer scale resolution to visualize this and hence a combination of super resolution aided nano manipulation ineluctably gives a new perspective to the scenario. Here we demonstrate how specificity and rapid determination of structures provided by stimulated emission depletion (STED) microscope can aid another microscopic tool with capability of mechanical manoeuvring, like an atomic force microscope (AFM) to get topological information or to target nano scaled materials. We also give proof of principle on how high-resolution real time visualization can improve nano manipulation capability within a dense sample, and how STED-AFM is an optimal combination for this job. With these evidences, this article points to future precise nano dissections and maybe even to a nano-snooker game with an AFM tip and fluorospheres.

  4. Cell manipulation in autologous chondrocyte implantation: from research to cleanroom.

    Science.gov (United States)

    Roseti, Livia; Serra, Marta; Tigani, Domenico; Brognara, Irene; Lopriore, Annamaria; Bassi, Alessandra; Fornasari, Pier Maria

    2008-04-01

    In the field of orthopaedics, autologous chondrocyte implantation is a technique currently used for the regeneration of damaged articular cartilage. There is evidence of the neo-formation of tissue displaying characteristics similar to hyaline cartilage. In vitro chondrocyte manipulation is a crucial phase of this therapeutic treatment consisting of different steps: cell isolation from a cartilage biopsy, expansion in monolayer culture and growth onto a three-dimensional biomaterial to implant in the damaged area. To minimise the risk of in vitro cell contamination, the manipulation must be performed in a controlled environment such as a cleanroom. Moreover, the choice of reagents and raw material suitable for clinical use in humans and the translation of research protocols into standardised production processes are important. In this study we describe the preliminary results obtained by the development of chondrocyte manipulation protocols (isolation and monolayer expansion) in cleanrooms for the application of autologous implantation.

  5. Manipulation of biological cells with a microelectromagnet matrix

    Science.gov (United States)

    Lee, Hakho; Hunt, Tom P.; Westervelt, Robert M.

    2004-03-01

    Microscopic manipulation of biological cells was demonstrated with a microelectromagnet matrix. The matrix has two layers of straight Au wires, aligned perpendicular to each other, that are covered with insulating layers [1]. Strong and localized magnetic fields by the matrix allow the stable micromanipulation of magnetically tagged biological cells in a fluid. Moreover, by adjusting current in each wire, a microelectromagnet matrix can create versatile magnetic field patterns for the independent and simultaneous manipulation of multiple cells. In this talk, we present the manipulation of magnetically tagged yeast cells in micron length scales with a matrix. Single or multiple cells were trapped, continuously moved and rotated in a fluid; a viable cell was separated from nonviable ones and was independently moved for cell sorting. [1] C.S. Lee, H. Lee and R.M. Westervelt, Appl. Phys. Lett. 79, 3308 (2001)

  6. Graded-index optical fiber tweezers with long manipulation length.

    Science.gov (United States)

    Gong, Yuan; Huang, Wei; Liu, Qun-Feng; Wu, Yu; Rao, Yunjiang; Peng, Gang-Ding; Lang, Jinyi; Zhang, Ke

    2014-10-20

    Long manipulation length is critical for optical fiber tweezers to enhance the flexibility of non-contact trapping. In this paper a long manipulation distance of more than 40 μm is demonstrated experimentally by the graded-index fiber (GIF) tweezers, which is fabricated by chemically etching a GIF taper with a large cone angle of 58°. The long manipulation distance is obtained by introducing an air cavity between the lead-in single mode fiber and the GIF as well as by adjusting the laser power in the existence of a constant background flow. The influence of the cavity length and the GIF length on the light distribution and the focusing length of the GIF taper is investigated numerically, which is helpful for optimizing the parameters to perform stable optical trapping. This kind of optical fiber tweezers has advantages including low-cost, easy-to-fabricate and easy-to-use.

  7. Tracking Trajectory Planning of Space Manipulator for Capturing Operation

    Directory of Open Access Journals (Sweden)

    Panfeng Huang

    2008-11-01

    Full Text Available On-orbit rescuing uncontrolled spinning satellite (USS using space robot is a great challenge for future space service. This paper mainly present a trajectory planning method of space manipulator that can track, approach and catch the USS in free-floating situation. According to the motion characteristics of USS, we plan a spiral ascending trajectory for space manipulator to approach towards USS in Cartesian space. However, it is difficult to map this trajectory into the joint space and realize feasible motion in joint space because of dynamics singularities and dynamics couple of space robot system. Therefore, we utilize interval algorithm to handle these difficulties. The simulation study verifies that the spiral ascending trajectory can been realized. Moreover, the motion of manipulator is smooth and stable, the disturbance to the base is so limited that the attitude control can compensate it.

  8. Manipulation detection and preference alterations in a choice blindness paradigm.

    Directory of Open Access Journals (Sweden)

    Fumihiko Taya

    Full Text Available It is commonly believed that individuals make choices based upon their preferences and have access to the reasons for their choices. Recent studies in several areas suggest that this is not always the case. In choice blindness paradigms, two-alternative forced-choice in which chosen-options are later replaced by the unselected option, individuals often fail to notice replacement of their chosen option, confabulate explanations for why they chose the unselected option, and even show increased preferences for the unselected-but-replaced options immediately after choice (seconds. Although choice blindness has been replicated across a variety of domains, there are numerous outstanding questions. Firstly, we sought to investigate how individual- or trial-factors modulated detection of the manipulations. Secondly, we examined the nature and temporal duration (minutes vs. days of the preference alterations induced by these manipulations.Participants performed a computerized choice blindness task, selecting the more attractive face between presented pairs of female faces, and providing a typewritten explanation for their choice on half of the trials. Chosen-face cue manipulations were produced on a subset of trials by presenting the unselected face during the choice explanation as if it had been selected. Following all choice trials, participants rated the attractiveness of each face individually, and rated the similarity of each face pair. After approximately two weeks, participants re-rated the attractiveness of each individual face online.Participants detected manipulations on only a small proportion of trials, with detections by fewer than half of participants. Detection rates increased with the number of prior detections, and detection rates subsequent to first detection were modulated by the choice certainty. We show clear short-term modulation of preferences in both manipulated and non-manipulated explanation trials compared to choice-only trials

  9. BioWord: A sequence manipulation suite for Microsoft Word

    Directory of Open Access Journals (Sweden)

    Anzaldi Laura J

    2012-06-01

    Full Text Available Abstract Background The ability to manipulate, edit and process DNA and protein sequences has rapidly become a necessary skill for practicing biologists across a wide swath of disciplines. In spite of this, most everyday sequence manipulation tools are distributed across several programs and web servers, sometimes requiring installation and typically involving frequent switching between applications. To address this problem, here we have developed BioWord, a macro-enabled self-installing template for Microsoft Word documents that integrates an extensive suite of DNA and protein sequence manipulation tools. Results BioWord is distributed as a single macro-enabled template that self-installs with a single click. After installation, BioWord will open as a tab in the Office ribbon. Biologists can then easily manipulate DNA and protein sequences using a familiar interface and minimize the need to switch between applications. Beyond simple sequence manipulation, BioWord integrates functionality ranging from dyad search and consensus logos to motif discovery and pair-wise alignment. Written in Visual Basic for Applications (VBA as an open source, object-oriented project, BioWord allows users with varying programming experience to expand and customize the program to better meet their own needs. Conclusions BioWord integrates a powerful set of tools for biological sequence manipulation within a handy, user-friendly tab in a widely used word processing software package. The use of a simple scripting language and an object-oriented scheme facilitates customization by users and provides a very accessible educational platform for introducing students to basic bioinformatics algorithms.

  10. Achievement report for fiscal 1999 on research and development of technologies for medical welfare equipment. Surgery support system for brain tumors and other conditions; 1999 nendo iro fukushi kiki gijutsu kenkyu kaihatsu seika hokokusho. Noshuyo nado shujutsu shien system

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2000-05-01

    A function of coordinated operation of two manipulators by a single operating lever and a function of detecting interference between manipulators are incorporated into a micro-manipulator system, and the new functions are found to work. A function of detecting, and displaying information on, any operation beyond the effective range is installed, and this improves on operability. A video microscope system is evaluated by experiments with phantoms and clinical applications, and it is found that it is serviceable. An adjustable arm stand is fabricated for the stereoscopic viewer, and its serviceability is verified. A variable convergence stereoscopic display for surgical operators is manufactured experimentally for practical application at clinical operations. Measurement error is evaluated of the positioning system installed on the second trial microscope. As for the micro-manipulator system, its operability and forceps operations are tested and evaluated on an experimentally built system. A display system is developed for endoscope images and micro-manipulator information. The surgical vision system is integrated with the micro-manipulator system, and the result is highly evaluated by surgical operators. (NEDO)

  11. Mathematical Processes: A Viewpoint-oriented Manipulation Perspective

    DEFF Research Database (Denmark)

    Badie, Farshad

    2008-01-01

    View-point oriented manipulation of concepts can be helpful for generating new ideas in basic sciences and in the meantime, justifying the processes that are principally meaningful to the related disciplines. Mathematics, as a major ground for basic sciences, seems to be an appropriate exemplar...... consistent. In this paper, having reviewed the principles of view-point oriented manipulation, mathematical processes will then be discussed in this regard and an example will be presented showing the way it works for transforming a formalism into a new one....

  12. Broadband manipulation of acoustic wavefronts by pentamode metasurface

    Energy Technology Data Exchange (ETDEWEB)

    Tian, Ye; Wei, Qi, E-mail: weiqi@nju.edu.cn; Cheng, Ying [Key Laboratory of Modern Acoustics, Department of Physics, Collaborative Innovation Center of Advanced Microstructures, Nanjing University, Nanjing 210093 (China); Xu, Zheng [School of Physics Science and Engineering, Tongji University, Shanghai 200092 (China); Liu, Xiaojun, E-mail: liuxiaojun@nju.edu.cn [Key Laboratory of Modern Acoustics, Department of Physics, Collaborative Innovation Center of Advanced Microstructures, Nanjing University, Nanjing 210093 (China); State Key Laboratory of Acoustics, Institute of Acoustics, Chinese Academy of Sciences, Beijing 100190 (China)

    2015-11-30

    An acoustic metasurface with a sub-wavelength thickness can manipulate acoustic wavefronts freely by the introduction of abrupt phase variation. However, the existence of a narrow bandwidth and a low transmittance limits further applications. Here, we present a broadband and highly transparent acoustic metasurface based on a frequency-independent generalized acoustic Snell's law and pentamode metamaterials. The proposal employs a gradient velocity to redirect refracted waves and pentamode metamaterials to improve impedance matching between the metasurface and the background medium. Excellent wavefront manipulation based on the metasurface is further demonstrated by anomalous refraction, generation of non-diffracting Bessel beam, and sub-wavelength flat focusing.

  13. Efficient counter-propagating wave acoustic micro-particle manipulation

    Science.gov (United States)

    Grinenko, A.; Ong, C. K.; Courtney, C. R. P.; Wilcox, P. D.; Drinkwater, B. W.

    2012-12-01

    A simple acoustic system consisting of a pair of parallel singe layered piezoelectric transducers submerged in a fluid used to form standing waves by a superposition of two counter-propagating waves is reported. The nodal positions of the standing wave are controlled by applying a variable phase difference to the transducers. This system was used to manipulate polystyrene micro-beads trapped at the nodal positions of the standing wave. The demonstrated good manipulation capability of the system is based on a lowering of the reflection coefficient in a narrow frequency band near the through-thickness resonance of the transducer plates.

  14. Recording Intramolecular Mechanics during the Manipulation of a Large Molecule

    Science.gov (United States)

    Moresco, Francesca; Meyer, Gerhard; Rieder, Karl-Heinz; Tang, Hao; Gourdon, André; Joachim, Christian

    2001-08-01

    The technique of single atom manipulation by means of the scanning tunneling microscope (STM) applies to the controlled displacement of large molecules. By a combined experimental and theoretical work, we show that in a constant height mode of manipulation the STM current intensity carries detailed information on the internal mechanics of the molecule when guided by the STM tip. Controlling and time following the intramolecular behavior of a large molecule on a surface is the first step towards the design of molecular tunnel-wired nanorobots.

  15. Laser Micro-beam Manipulation System for Cells

    Institute of Scientific and Technical Information of China (English)

    孟祥旺; 李岩; 张书练; 张志诚; 赵南明

    2002-01-01

    This paper introduces a laser micro-beam system for cells manipulation. The laser micro-beam system comprises a laser scissors and a laser tweezers, which are focused by a Nd∶YAG laser and a He-Ne laser through a microscope objective, respectively. Not only the overall design of the laser micro-beam system is discussed, but also the design and choice of the critical components. A laser micro-beam system was constructed and anticipated experiment results were gained. Yeast cells can be successfully manipulated with the laser tweezers. Chromosomes can be successfully incised with the laser scissors.

  16. Verification hybrid control of a wheeled mobile robot and manipulator

    Science.gov (United States)

    Muszynska, Magdalena; Burghardt, Andrzej; Kurc, Krzysztof; Szybicki, Dariusz

    2016-04-01

    In this article, innovative approaches to realization of the wheeled mobile robots and manipulator tracking are presented. Conceptions include application of the neural-fuzzy systems to compensation of the controlled system's nonlinearities in the tracking control task. Proposed control algorithms work on-line, contain structure, that adapt to the changeable work conditions of the controlled systems, and do not require the preliminary learning. The algorithm was verification on the real object which was a Scorbot - ER 4pc robotic manipulator and a Pioneer - 2DX mobile robot.

  17. Manipulator Neural Network Control Based on Fuzzy Genetic Algorithm

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    The three-layer forward neural networks are used to establish the inverse kinem a tics models of robot manipulators. The fuzzy genetic algorithm based on the line ar scaling of the fitness value is presented to update the weights of neural net works. To increase the search speed of the algorithm, the crossover probability and the mutation probability are adjusted through fuzzy control and the fitness is modified by the linear scaling method in FGA. Simulations show that the propo sed method improves considerably the precision of the inverse kinematics solutio ns for robot manipulators and guarantees a rapid global convergence and overcome s the drawbacks of SGA and the BP algorithm.

  18. A large workspace flexure hinge-based parallel manipulator system

    Institute of Scientific and Technical Information of China (English)

    Dong Wei; Du Zhijiang; Sun Lining

    2005-01-01

    Parallel manipulator systems as promising precision devices are used widely in current researches. A novel large workspace flexure parallel manipulator system utilizing wide-range flexure hinges as passive joints is proposed in this paper, which can attain sub-micron-scale precision over the cubic centimeter motion range. This paper introduces the mechanical system architecture based on the wide-range flexure hinges, analyzes the kinematics via stiffness matrices, presents the control system configuration and control strategy, and finally gives the system performance test results.

  19. Analysis of the Rotopod: An all revolute parallel manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Schmitt, D.J.; Benavides, G.L.; Bieg, L.F.; Kozlowski, D.M.

    1998-05-16

    This paper introduces a new configuration of parallel manipulator call the Rotopod which is constructed from all revolute type joints. The Rotopod consists of two platforms connected by six legs and exhibits six Cartesian degrees of freedom. The Rotopod is initially compared with other all revolute joint parallel manipulators to show its similarities and differences. The inverse kinematics for this mechanism are developed and used to analyze the accessible workspace of the mechanism. Optimization is performed to determine the Rotopod design configurations which maximum the accessible workspace based on desirable functional constraints.

  20. Experimental manipulation of infant temperament affects amygdala functional connectivity

    DEFF Research Database (Denmark)

    Riem, Madelon M E; van Ijzendoorn, Marinus H; Parsons, Christine E

    2017-01-01

    In this functional magnetic resonance imaging (fMRI) study we examined neural processing of infant faces associated with a happy or a sad temperament in nulliparous women. We experimentally manipulated adult perception of infant temperament in a probabilistic learning task. In this task, particip......In this functional magnetic resonance imaging (fMRI) study we examined neural processing of infant faces associated with a happy or a sad temperament in nulliparous women. We experimentally manipulated adult perception of infant temperament in a probabilistic learning task. In this task...

  1. Photonic crystals, light manipulation, and imaging in complex nematic structures

    Science.gov (United States)

    Ravnik, Miha; Å timulak, Mitja; Mur, Urban; Čančula, Miha; Čopar, Simon; Žumer, Slobodan

    2016-03-01

    Three selected approaches for manipulation of light by complex nematic colloidal and non-colloidal structures are presented using different own custom developed theoretical and modelling approaches. Photonic crystals bands of distorted cholesteric liquid crystal helix and of nematic colloidal opals are presented, also revealing distinct photonic modes and density of states. Light propagation along half-integer nematic disclinations is shown with changes in the light polarization of various winding numbers. As third, simulated light transmission polarization micrographs of nematic torons are shown, offering a new insight into the complex structure characterization. Finally, this work is a contribution towards using complex soft matter in optics and photonics for advanced light manipulation.

  2. Ultrasound assisted particle and cell manipulation on-chip.

    Science.gov (United States)

    Mulvana, Helen; Cochran, Sandy; Hill, Martyn

    2013-11-01

    Ultrasonic fields are able to exert forces on cells and other micron-scale particles, including microbubbles. The technology is compatible with existing lab-on-chip techniques and is complementary to many alternative manipulation approaches due to its ability to handle many cells simultaneously over extended length scales. This paper provides an overview of the physical principles underlying ultrasonic manipulation, discusses the biological effects relevant to its use with cells, and describes emerging applications that are of interest in the field of drug development and delivery on-chip. © 2013.

  3. Spinal manipulation or mobilization for radiculopathy: a systematic review.

    Science.gov (United States)

    Leininger, Brent; Bronfort, Gert; Evans, Roni; Reiter, Todd

    2011-02-01

    In this systematic review, we present a comprehensive and up-to-date systematic review of the literature as it relates to the efficacy and effectiveness of spinal manipulation or mobilization in the management of cervical, thoracic, and lumbar-related extremity pain. There is moderate quality evidence that spinal manipulation is effective for the treatment of acute lumbar radiculopathy. The quality of evidence for chronic lumbar spine-related extremity symptoms and cervical spine-related extremity symptoms of any duration is low or very low. At present, no evidence exists for the treatment of thoracic radiculopathy. Future high-quality studies should address these conditions.

  4. A FUZZY LOGIC CONTROLLERFORA TWO-LINK FUNCTIONAL MANIPULATOR

    Directory of Open Access Journals (Sweden)

    Sherif Kamel Hussein

    2014-12-01

    Full Text Available This paper presents a new approach for designing a Fuzzy Logic Controller "FLC"for a dynamically multivariable nonlinear coupling system. The conventional controller with constant gains for different operating points may not be sufficient to guarantee satisfactory performance for Robot manipulator. The Fuzzy Logic Controller utilizes the error and the change of error as fuzzy linguistic inputs to regulate the system performance. The proposed controller have been developed to simulate the dynamic behavior of A Two-Link Functional Manipulator. The new controller uses only the available information of the inputoutput for controlling the position and velocity of the robot axes of the motion of the end effectors

  5. Finding the Generalized Forces of a Series-Parallel Manipulator

    Directory of Open Access Journals (Sweden)

    Mario Garcia-Murillo

    2013-01-01

    Full Text Available In this work the kinematic and dynamic analyses of a robot manipulator whose topology consists of parallel kinematic structures with linear actuators are approached by means of the theory of screws and the principle of virtual work. The input/output equations of velocity and acceleration are obtained by applying screw theory. Then the generalized forces of the manipulator are determined combining screw theory and the principle of virtual work. Finally, a case study, whose numerical results are compared with simulations generated with the aid of specialized software, is included.

  6. Valley-dependent beam manipulators based on photonic graphene

    Science.gov (United States)

    Deng, Fu-Sheng; Sun, Yong; Dong, Li-Juan; Liu, Yan-Hong; Shi, Yun-Long

    2017-02-01

    Trigonal warping distortion in energy band lifts the degeneracy of two valleys (K and K' points) of graphene. In this situation, electron transport becomes valley dependent, which can be used to design the valley beam splitter, collimator, or guiding device. Here, valley-dependent beam manipulators are designed based on artificial photonic graphene. In this scheme, the finite-size artificial photonic graphene is intentionally designed to realize the novel device functionalities. This kind of valley-dependent beam manipulators can work at an arbitrary range of electromagnetic waves from microwave to visible light. It potentially paves the way for the application of photonic graphene in future integrated photonic devices.

  7. On the Kinetostatic Optimization of Revolute-Coupled Planar Manipulators

    CERN Document Server

    Chablat, Damien

    2002-01-01

    Proposed in this paper is a kinetostatic performance index for the optimum dimensioning of planar manipulators of the serial type. The index is based on the concept of distance of the underlying Jacobian matrix to a given isotropic matrix that is used as a reference model for purposes of performance evaluation. Applications of the index fall in the realm of design, but control applications are outlined. The paper focuses on planar manipulators, the basic concepts being currently extended to their three-dimensional counterparts.

  8. Adaptive robust control of robot manipulators -- Theory and experiment

    Energy Technology Data Exchange (ETDEWEB)

    Imura, Junichi; Sugie, Toshiharu; Yoshikawa, Tsuneo (Kyoto Univ. (Japan))

    1994-10-01

    In this paper, a new adaptive robust control scheme for manipulators is proposed that overcomes the drawbacks of conventional adaptive robust control methods. The proposed controller has a simple structure by exploiting the special structure of the manipulator dynamics, and achieves the specified tracking precision without any a priori information on uncertainty. Furthermore, the feedback gain of the proposed method is almost necessary and minimum for the specified precision. To verify the advantages of the method, experimental results are shown for the trajectory control of a 2 DOF direct-drive arm.

  9. Manipulating nanoscale atom-atom interactions with cavity QED

    CERN Document Server

    Pal, Arpita; Deb, Bimalendu

    2016-01-01

    We theoretically explore manipulation of interactions between excited and ground state atoms at nanoscale separations by cavity quantum electrodynamics (CQED). We develop an adiabatic molecular dressed state formalism and show that it is possible to generate Fano-Feshbach resonances between ground and long-lived excited-state atoms inside a cavity. The resonances are shown to arise due to non-adiabatic coupling near a pseudo-crossing between the dressed state potentials. We illustrate our results with a model study using fermionic $^{171}$Yb atoms in a two-modal cavity. Our study is important for manipulation of interatomic interactions at low energy by cavity field.

  10. Price manipulation in a market impact model with dark pool

    OpenAIRE

    Florian Kl\\"ock; Alexander Schied; Yuemeng Sun

    2012-01-01

    For a market impact model, price manipulation and related notions play a role that is similar to the role of arbitrage in a derivatives pricing model. Here, we give a systematic investigation into such regularity issues when orders can be executed both at a traditional exchange and in a dark pool. To this end, we focus on a class of dark-pool models whose market impact at the exchange is described by an Almgren--Chriss model. Conditions for the absence of price manipulation for all Almgren--C...

  11. Language of Transducer Manipulation: Codifying Terms for Effective Teaching.

    Science.gov (United States)

    Bahner, David P; Blickendorf, J Matthew; Bockbrader, Marcia; Adkins, Eric; Vira, Amar; Boulger, Creagh; Panchal, Ashish R

    2016-01-01

    There is a need for consistent, repetitive, and reliable terminology to describe the basic manipulations of the ultrasound transducer. Previously, 5 basic transducer motions have been defined and used in education. However, even with this effort, there is still a lack of consistency and clarity in describing transducer manipulation and motion. In this technical innovation, we describe an expanded definition of transducer motions, which include movements to change the transducer's angle of insonation to the target as well as the location on the body to optimize the ultrasound image. This new terminology may allow for consistent teaching and improved communication in the process of image acquisition.

  12. [The manipulation technique and clinical application of kinetic cupping].

    Science.gov (United States)

    Luo, Rong; Liu, Qi; Sun, Dan

    2013-07-01

    The characteristic of kinetic cupping is explained from treatment principles, manipulation and clinical application. The kinetic cupping is a new particular therapy that combines traditional cupping and kinetic therapy. With cups on the patient, limb action like flexion-extension, adduction-abduction and rotation is made to reinforce clinical effects, which has simple and safe manipulation, obvious efficacy and is well accepted by patient. It has more obvious advantage for pain that was caused by large-area soft tissue injury and discomfort where acupuncture is not appropriate.

  13. Performance-Based Animation Using Constraints for Virtual Object Manipulation.

    Science.gov (United States)

    Hwang, Jaepyung; Kim, Kwanguk; Suh, Il Hong; Kwon, Taesoo

    2017-01-01

    Optical motion-capture systems can be used to animate characters in real time based on human demonstrations. However, most approaches do not consider the detailed finger movements necessary for object manipulation. The proposed online motion-capture framework encourages natural motions by automatically guiding the avatar's motion toward the desired behavior based on a set of captured reference motions for the same behavior. The proposed motion controller imitates the user's finger and body gestures to enable performance-based animation of human avatars that can manipulate virtual objects in real time.

  14. Translation and manipulation of silicon nanomembranes using holographic optical tweezers

    Directory of Open Access Journals (Sweden)

    Oehrlein Stefan

    2011-01-01

    Full Text Available Abstract We demonstrate the use of holographic optical tweezers for trapping and manipulating silicon nanomembranes. These macroscopic free-standing sheets of single-crystalline silicon are attractive for use in next-generation flexible electronics. We achieve three-dimensional control by attaching a functionalized silica bead to the silicon surface, enabling non-contact trapping and manipulation of planar structures with high aspect ratios (high lateral size to thickness. Using as few as one trap and trapping powers as low as several hundred milliwatts, silicon nanomembranes can be rotated and translated in a solution over large distances.

  15. Sliding Mode Control of Robot Manipulators via Intelligent Approaches

    OpenAIRE

    Shafiei, S. Ehsan

    2010-01-01

    This chapter addressed sliding mode control (SMC) of n-link robot manipulators by using of intelligent methods including fuzzy logic and neural network strategies. In this regard, three control strategies were investigated. In the first case, design of a sliding mode control with a PID loop for robot manipulator was presented in which the gain of both SMC and PID was tuned on-line by using fuzzy approach. The proposed methodology in fact tries to use the advantages of the SMC, PID and Fuzzy c...

  16. Inverse kinematics model of parallel macro-micro manipulator system

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    An improved design, which employs the integration of optic, mechanical and electronic technologies for the next generation large radio telescope, is presented in this note. The authors propose the concept of parallel macro-micro manipulator system from the feed support structure with a rough tuning subsystem based on a cable structure and a fine tuning subsystem based on the Stewart platform. According to the requirement of astronomical observation, the inverse kinematics model of this parallel macro-micro manipulator system is deduced. This inverse kinematics model is necessary for the computer-controlled motion of feed.

  17. Recording Intramolecular Mechanics during the Manipulation of a Large Molecule

    Energy Technology Data Exchange (ETDEWEB)

    Moresco, Francesca; Meyer, Gerhard; Rieder, Karl-Heinz; Tang, Hao; Gourdon, Andre; Joachim, Christian

    2001-08-20

    The technique of single atom manipulation by means of the scanning tunneling microscope (STM) applies to the controlled displacement of large molecules. By a combined experimental and theoretical work, we show that in a constant height mode of manipulation the STM current intensity carries detailed information on the internal mechanics of the molecule when guided by the STM tip. Controlling and time following the intramolecular behavior of a large molecule on a surface is the first step towards the design of molecular tunnel-wired nanorobots.

  18. Recording intramolecular mechanics during the manipulation of a large molecule.

    Science.gov (United States)

    Moresco, F; Meyer, G; Rieder, K H; Tang, H; Gourdon, A; Joachim, C

    2001-08-20

    The technique of single atom manipulation by means of the scanning tunneling microscope (STM) applies to the controlled displacement of large molecules. By a combined experimental and theoretical work, we show that in a constant height mode of manipulation the STM current intensity carries detailed information on the internal mechanics of the molecule when guided by the STM tip. Controlling and time following the intramolecular behavior of a large molecule on a surface is the first step towards the design of molecular tunnel-wired nanorobots.

  19. Modeling and control for micro and nano manipulation

    Science.gov (United States)

    Wejinya, Uchechukwu C.

    Manipulation of micro and nano entities implies the movement of micro and nano entities from an initial position (location) to the desire position (location). This operation is not only necessary, but a required task with great precision. The tools needed for the manipulation needs to be chosen properly because the capabilities of the human hand are very restricted. Smart micro and nano manipulation are becoming of great interest in many applications including medicine and industry. In industry, high precision manipulation systems are especially needed for mass production of both micro and nano systems which consist of different component in respective scales. The transition from assembling and manipulating micro and nano entities manually to mass products with high quality is only attainable by automated assembly and manipulation systems. An example is the testing of integrated circuits which can be carried out by exchanging the manipulation tool by an electric probe. Furthermore, in medical research it is customary to pick up a single cell (human, plant, or animal), and carry it to another device which is used to further analyze the cell. Consequently, the cell of interest has to be separated from the other cells and picked up using the appropriate micro/nano tool. Hence it becomes absolutely necessary that the appropriate tool be used for specific micro or nano entity manipulation and assembly. In this research, we focus on developing micro tool for manipulating micro and nano entities in liquid environment using a micro fluidic end effector system with in-situ Polyvinylidene Fluoride (PVDF) sensing. The microfluidic end effector system consists of a DC micro-diaphragm pump and compressor, one region of flexible latex tube, a Polyvinylidene Fluoride (PVDF) sensor for in-situ measurement of micro drag force, and a micro pipette. The micro pipette of the novel microfluidic end effector system has an internal diameter (ID) smaller than 20mum used for microfluidic

  20. From computing with numbers to computing with words. From manipulation of measurements to manipulation of perceptions.

    Science.gov (United States)

    Zadeh, L A

    2001-04-01

    Interest in issues relating to consciousness has grown markedly during the last several years. And yet, nobody can claim that consciousness is a well-understood concept that lends itself to precise analysis. It may be argued that, as a concept, consciousness is much too complex to fit into the conceptual structure of existing theories based on Aristotelian logic and probability theory. An approach suggested in this paper links consciousness to perceptions and perceptions to their descriptors in a natural language. In this way, those aspects of consciousness which relate to reasoning and concept formation are linked to what is referred to as the methodology of computing with words (CW). Computing, in its usual sense, is centered on manipulation of numbers and symbols. In contrast, computing with words, or CW for short, is a methodology in which the objects of computation are words and propositions drawn from a natural language (e.g., small, large, far, heavy, not very likely, the price of gas is low and declining, Berkeley is near San Francisco, it is very unlikely that there will be a significant increase in the price of oil in the near future, etc.). Computing with words is inspired by the remarkable human capability to perform a wide variety of physical and mental tasks without any measurements and any computations. Familiar examples of such tasks are parking a car, driving in heavy traffic, playing golf, riding a bicycle, understanding speech, and summarizing a story. Underlying this remarkable capability is the brain's crucial ability to manipulate perceptions--perceptions of distance, size, weight, color, speed, time, direction, force, number, truth, likelihood, and other characteristics of physical and mental objects. Manipulation of perceptions plays a key role in human recognition, decision and execution processes. As a methodology, computing with words provides a foundation for a computational theory of perceptions: a theory which may have an important